122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 164 warnings · 17904 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788546822.88405180 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_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: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788546823.49777055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.50sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6).[0m ×2 + 4.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 ms (missed cycles : 2).[0m ×2 + 6.53sWARNros2_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 ×6 + 7.12sINFOjoint_trajectory_controllerReceived new action goal ×2940 + 7.12sINFOjoint_trajectory_controllerAccepted new action goal ×2940 + 7.12sINFOros2_control_nodeReceived new action goal[0m ×5880 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×5880 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779862 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779862 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049112 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049112 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981581 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981581 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893581 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893581 ms (missed cycles : 3).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690894 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690894 ms (missed cycles : 2).[0m ×2 + 11.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.608972 ms (missed cycles : 7). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.608972 ms (missed cycles : 7).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810163 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810163 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255260 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255260 ms (missed cycles : 2).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906132 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906132 ms (missed cycles : 2).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992093 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992093 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982741 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982741 ms (missed cycles : 2).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674093 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674093 ms (missed cycles : 2).[0m ×2 + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767284 ms (missed cycles : 2). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767284 ms (missed cycles : 2).[0m ×2 + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379783 ms (missed cycles : 2). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379783 ms (missed cycles : 2).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873928 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873928 ms (missed cycles : 2).[0m ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817468 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817468 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679246 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679246 ms (missed cycles : 2).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305266 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305266 ms (missed cycles : 2).[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932857 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932857 ms (missed cycles : 2).[0m ×2 + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725624 ms (missed cycles : 2). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725624 ms (missed cycles : 2).[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017945 ms (missed cycles : 2). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017945 ms (missed cycles : 2).[0m ×2 + 28.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851686 ms (missed cycles : 2). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851686 ms (missed cycles : 2).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674548 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674548 ms (missed cycles : 2).[0m ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676707 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676707 ms (missed cycles : 2).[0m ×2 + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109561 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109561 ms (missed cycles : 2).[0m ×2 + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319549 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319549 ms (missed cycles : 2).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937373 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937373 ms (missed cycles : 2).[0m ×2 + 35.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760558 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760558 ms (missed cycles : 2).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020605 ms (missed cycles : 2). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020605 ms (missed cycles : 2).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171455 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171455 ms (missed cycles : 2).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738162 ms (missed cycles : 2). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738162 ms (missed cycles : 2).[0m ×2 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031127 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031127 ms (missed cycles : 3).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031931 ms (missed cycles : 2). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031931 ms (missed cycles : 2).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727605 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727605 ms (missed cycles : 2).[0m ×2 + 42.38sWARNros2_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 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822819 ms (missed cycles : 2). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822819 ms (missed cycles : 2).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846966 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846966 ms (missed cycles : 2).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701341 ms (missed cycles : 2). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701341 ms (missed cycles : 2).[0m ×2 + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695833 ms (missed cycles : 4). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695833 ms (missed cycles : 4).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844791 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844791 ms (missed cycles : 2).[0m ×2 + 47.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546867.30732703 seconds ×3 + 47.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.43sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788546867.94636130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682559 ms (missed cycles : 4). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682559 ms (missed cycles : 4).[0m ×2 + 47.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.92sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 47.94sINFOros2_control_node[2026-09-04 18:34:28.111] [info] Received new action goal ×2 + 47.94sINFOros2_control_node[2026-09-04 18:34:28.111] [info] Accepted new action goal ×2 + 48.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785665 ms (missed cycles : 3). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785665 ms (missed cycles : 3).[0m ×2 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156585 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156585 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 159 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 7.10sINFOros2_control_node[2026-09-04 18:32:52.239] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-04 18:32:52.239] [info] Accepted new action goal ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941528 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941528 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359424 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359424 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527977 ms (missed cycles : 6). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527977 ms (missed cycles : 6).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-04 18:32:55.512] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-04 18:32:55.512] [info] Accepted new action goal ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239982 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239982 ms (missed cycles : 2).[0m ×2 + 11.44sWARNros2_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 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297531 ms (missed cycles : 4). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297531 ms (missed cycles : 4).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894476 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894476 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.41sINFOros2_control_node[2026-09-04 18:32:58.543] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-04 18:32:58.544] [info] Accepted new action goal ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725116 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725116 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887900 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887900 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526531 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526531 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 + 16.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.876143 ms (missed cycles : 6). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.876143 ms (missed cycles : 6).[0m ×2 + 17.41sWARNros2_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 ×6 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560327 ms (missed cycles : 3). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560327 ms (missed cycles : 3).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725854 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725854 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968000 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968000 ms (missed cycles : 2).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390220 ms (missed cycles : 3). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390220 ms (missed cycles : 3).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812352 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812352 ms (missed cycles : 2).[0m ×2 + 23.15sINFOobjective_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 + 23.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.15sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602894 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602894 ms (missed cycles : 2).[0m ×2 + 24.03sINFOros2_control_node[2026-09-04 18:33:09.169] [info] Received new action goal ×2 + 24.03sINFOros2_control_node[2026-09-04 18:33:09.169] [info] Accepted new action goal ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289667 ms (missed cycles : 4). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289667 ms (missed cycles : 4).[0m ×2 + 25.20sINFOobjective_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 + 25.21sINFOobjective_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 + 25.49sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 25.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.54sINFOros2_control_node[2026-09-04 18:33:10.673] [info] Received new action goal ×2 + 25.54sINFOros2_control_node[2026-09-04 18:33:10.673] [info] Accepted new action goal ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015791 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015791 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549288 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549288 ms (missed cycles : 2).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856874 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856874 ms (missed cycles : 3).[0m ×2 + 27.68sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 27.68sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.69sINFOros2_control_node[2026-09-04 18:33:12.829] [info] Received new action goal ×2 + 27.69sINFOros2_control_node[2026-09-04 18:33:12.829] [info] Accepted new action goal ×2 + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744750 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744750 ms (missed cycles : 2).[0m ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002372 ms (missed cycles : 2). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002372 ms (missed cycles : 2).[0m ×2 + 30.42sWARNros2_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 ×4 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386305 ms (missed cycles : 5). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386305 ms (missed cycles : 5).[0m ×2 + 30.82sINFOros2_control_node[2026-09-04 18:33:15.959] [info] Received new action goal ×2 + 30.82sINFOros2_control_node[2026-09-04 18:33:15.959] [info] Accepted new action goal ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720678 ms (missed cycles : 5). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720678 ms (missed cycles : 5).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561695 ms (missed cycles : 4). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561695 ms (missed cycles : 4).[0m ×2 + 33.42sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 33.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.49sINFOros2_control_node[2026-09-04 18:33:18.623] [info] Received new action goal ×2 + 33.49sINFOros2_control_node[2026-09-04 18:33:18.623] [info] Accepted new action goal ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115095 ms (missed cycles : 2). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115095 ms (missed cycles : 2).[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346745 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346745 ms (missed cycles : 2).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670139 ms (missed cycles : 2). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670139 ms (missed cycles : 2).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509349 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509349 ms (missed cycles : 3).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933132 ms (missed cycles : 3). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933132 ms (missed cycles : 3).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444122 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444122 ms (missed cycles : 3).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580295 ms (missed cycles : 4). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580295 ms (missed cycles : 4).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036277 ms (missed cycles : 2). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036277 ms (missed cycles : 2).[0m ×2 + 42.47sINFOros2_control_nodeMuJoCo sim: 0.67% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068165 ms (missed cycles : 3). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068165 ms (missed cycles : 3).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698747 ms (missed cycles : 2). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698747 ms (missed cycles : 2).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159453 ms (missed cycles : 2). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159453 ms (missed cycles : 2).[0m ×2 + 44.78sINFOros2_control_node[2026-09-04 18:33:29.919] [info] Received new action goal ×2 + 44.78sINFOros2_control_node[2026-09-04 18:33:29.919] [info] Accepted new action goal ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588903 ms (missed cycles : 5). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588903 ms (missed cycles : 5).[0m ×2 + 45.96sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788546811.09527898 seconds ×3 + 46.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.57sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847768 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847768 ms (missed cycles : 2).[0m ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788546811.91388774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071071 ms (missed cycles : 6). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071071 ms (missed cycles : 6).[0m ×2 + 48.00sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 48.02sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.03sINFOros2_control_node[2026-09-04 18:33:33.169] [info] Received new action goal ×2 + 48.03sINFOros2_control_node[2026-09-04 18:33:33.169] [info] Accepted new action goal ×2 + 48.36sWARNros2_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 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672098 ms (missed cycles : 2). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672098 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 12714 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2086 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2086 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4172 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4172 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701341 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701341 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695833 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695833 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844791 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844791 ms (missed cycles : 2).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546867.30732703 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788546867.94636130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682559 ms (missed cycles : 4). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682559 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.14sINFOros2_control_node[2026-09-04 18:34:28.111] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-04 18:34:28.111] [info] Accepted new action goal ×2 + 4.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785665 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785665 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.45sINFOobjective_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 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156585 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156585 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553355 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553355 ms (missed cycles : 3).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738829 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738829 ms (missed cycles : 2).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902853 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902853 ms (missed cycles : 2).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187767 ms (missed cycles : 5). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187767 ms (missed cycles : 5).[0m ×2 + 10.66sWARNros2_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 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776372 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776372 ms (missed cycles : 2).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715316 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715316 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191822 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191822 ms (missed cycles : 2).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733448 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733448 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727022 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727022 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717429 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717429 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416920 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416920 ms (missed cycles : 2).[0m ×2 + 17.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066161 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066161 ms (missed cycles : 2).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456158 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456158 ms (missed cycles : 2).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.689097 ms (missed cycles : 6). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.689097 ms (missed cycles : 6).[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277869 ms (missed cycles : 2). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277869 ms (missed cycles : 2).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 24.61sWARNros2_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 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 25.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 26.09sINFOobjective_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: ""
+ 26.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 26.41sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 26.41sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.43sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 26.43sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.35sINFOobjective_server_nodeFound path in 1 iterations (0.0032567 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1788546751.76030469 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788546752.56369257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.38sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2).[0m ×2 + 5.91sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629795 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629795 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718512 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718512 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413981 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413981 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135317 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135317 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749841 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749841 ms (missed cycles : 2).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788546763.84696913 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.09sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788546764.50992823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788546764.58006597 seconds ×3 + 15.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.76sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.94sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 15.94sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 17.94sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 58 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698747 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698747 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.28sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.28sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159453 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159453 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-09-04 18:33:29.919] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-09-04 18:33:29.919] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588903 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588903 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788546811.09527898 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847768 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847768 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788546811.91388774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071071 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071071 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.41sINFOros2_control_node[2026-09-04 18:33:33.169] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-04 18:33:33.169] [info] Accepted new action goal ×2 + 4.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672098 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672098 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645915 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645915 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.041845 ms (missed cycles : 8). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.041845 ms (missed cycles : 8).[0m ×2 + 8.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.11sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.11sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.11sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.11sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077846 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077846 ms (missed cycles : 4).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696777 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696777 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714434 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714434 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.51sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.52sINFOros2_control_node[2026-09-04 18:33:39.278] [info] Received new action goal ×2 + 10.52sINFOros2_control_node[2026-09-04 18:33:39.278] [info] Accepted new action goal ×2 + 10.77sWARNros2_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 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3).[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788546822.88405180 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3).[0m ×2 + 14.68sINFOobjective_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: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788546823.49777055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.92sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6).[0m ×2 + 16.18sINFOobjective_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 + 16.19sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 60 warnings · 2160 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.97sINFOobjective_server_nodecaller: ×4 + 3.97sINFOobjective_server_nodetype: 0 ×4 + 3.97sINFOobjective_server_nodename: "" ×4 + 3.97sINFOobjective_server_nodeinstance_id: "" ×4 + 3.97sINFOobjective_server_node ×4 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079617 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079617 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.76sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (4.91e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.0030776 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.34sWARNros2_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 + 8.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.38sINFOros2_control_node[2026-09-04 18:34:54.478] [info] Received new action goal ×2 + 8.38sINFOros2_control_node[2026-09-04 18:34:54.478] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710103 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710103 ms (missed cycles : 4).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447428 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447428 ms (missed cycles : 5).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034870 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034870 ms (missed cycles : 2).[0m ×2 + 10.69sINFOros2_control_node[2026-09-04 18:34:56.780] [info] Received new action goal ×2 + 10.69sINFOros2_control_node[2026-09-04 18:34:56.780] [info] Accepted new action goal ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 12.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.45sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 12.45sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 13.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 14.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 15.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.21sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 15.41sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 17.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850723 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850723 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286026 ms (missed cycles : 5). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286026 ms (missed cycles : 5).[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 1 iterations (0.0035556 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 2 iterations (0.00507387 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 1 iterations (0.00327299 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (8.07e-07 s). ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869855 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869855 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.77sINFOros2_control_node[2026-09-04 18:32:15.813] [info] Received new action goal ×2 + 8.77sINFOros2_control_node[2026-09-04 18:32:15.813] [info] Accepted new action goal ×2 + 9.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×4 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.783814 ms (missed cycles : 6). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.783814 ms (missed cycles : 6).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158671 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158671 ms (missed cycles : 5).[0m ×2 + 11.03sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.30sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.30sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.30sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788546738.37536621 seconds ×3 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228098 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228098 ms (missed cycles : 2).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734320 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734320 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801802 ms (missed cycles : 5). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801802 ms (missed cycles : 5).[0m ×2 + 14.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.33sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788546741.36601973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 14.54sINFOros2_control_node[2026-09-04 18:32:21.580] [info] Received new action goal ×2 + 14.54sINFOros2_control_node[2026-09-04 18:32:21.580] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272402 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272402 ms (missed cycles : 2).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267966 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267966 ms (missed cycles : 4).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716637 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716637 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158671 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158671 ms (missed cycles : 5).[0m ×2 + 0.27sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.53sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788546738.37536621 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228098 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228098 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734320 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734320 ms (missed cycles : 2).[0m ×2 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801802 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.801802 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×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 `Grasp Pose Using Yaml` starting at time: 1788546741.36601973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-04 18:32:21.580] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-04 18:32:21.580] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272402 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272402 ms (missed cycles : 2).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267966 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267966 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716637 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716637 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307769 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307769 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (6.13e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 1 iterations (0.00330435 s). ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.141854 ms (missed cycles : 8). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.141854 ms (missed cycles : 8).[0m ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 2 iterations (0.00496274 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 1 iterations (0.00399439 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.24sINFOros2_control_node[2026-09-04 18:32:27.053] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-09-04 18:32:27.053] [info] Accepted new action goal ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704170 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704170 ms (missed cycles : 2).[0m ×2 + 9.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.79sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985517 ms (missed cycles : 5). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985517 ms (missed cycles : 5).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3).[0m ×2 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 11.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.80sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.91sINFOobjective_server_nodeFound path in 1 iterations (0.0032567 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.14sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Received new action goal ×2 + 12.14sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Accepted new action goal ×2 + 12.55sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Accepted new action goal ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_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 + 13.93sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.93sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788546751.76030469 seconds ×3 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788546752.56369257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2).[0m ×2 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 14.94sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Accepted new action goal ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2).[0m ×2 + 16.47sWARNros2_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 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2).[0m ×2 + 17.48sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Received new action goal ×2 + 17.48sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788546922.15253115 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.69sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.69sINFOobjective_server_nodecaller: ×8 + 3.69sINFOobjective_server_nodetype: 0 ×8 + 3.69sINFOobjective_server_nodename: "" ×8 + 3.69sINFOobjective_server_nodeinstance_id: "" ×8 + 3.69sINFOobjective_server_node ×8 + 3.75sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788546922.80409193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.846597 ms (missed cycles : 6). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.846597 ms (missed cycles : 6).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023256 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023256 ms (missed cycles : 2).[0m ×2 + 8.55sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934604 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934604 ms (missed cycles : 4).[0m ×2 + 10.19sWARNros2_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 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587447 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587447 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 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 + 14.09sERRORobjective_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: 1788546933.14596486 seconds ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 15.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 16.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.00sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 16.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.17sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 16.17sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 16.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975337 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975337 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352525 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_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 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373807 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373807 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.33sINFOros2_control_node[2026-09-04 18:31:35.372] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-09-04 18:31:35.372] [info] Accepted new action goal ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.69sINFOros2_control_node[2026-09-04 18:31:35.738] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-04 18:31:35.738] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1788546695.75443816 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805960 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805960 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788546696.36591196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-04 18:31:36.580] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 18:31:36.580] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021419 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021419 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191475 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191475 ms (missed cycles : 5).[0m ×2 + 5.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.82sINFOros2_control_node[2026-09-04 18:31:38.861] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-09-04 18:31:38.861] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322615 ms (missed cycles : 8). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322615 ms (missed cycles : 8).[0m ×2 + 6.35sWARNros2_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 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234871 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234871 ms (missed cycles : 5).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947392 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947392 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371092 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371092 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107676 ms (missed cycles : 6). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107676 ms (missed cycles : 6).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 12.52sWARNros2_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 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 13.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788546706.73644495 seconds ×3 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 15.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.34sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.30sINFOobjective_server_nodecaller: ×6 + 2.30sINFOobjective_server_nodetype: 0 ×6 + 2.30sINFOobjective_server_nodename: "" ×6 + 2.30sINFOobjective_server_nodeinstance_id: "" ×6 + 2.30sINFOobjective_server_node ×6 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082687 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082687 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.59sINFOros2_control_node[2026-09-04 18:32:02.734] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 18:32:02.734] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677893 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677893 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913049 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913049 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.94sINFOros2_control_node[2026-09-04 18:32:05.081] [info] Received new action goal ×2 + 8.94sINFOros2_control_node[2026-09-04 18:32:05.082] [info] Accepted new action goal ×2 + 9.09sWARNros2_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 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531107 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531107 ms (missed cycles : 5).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.30sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 11.30sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 13.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 13.50sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 13.50sERRORobjective_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: 1788546729.64339185 seconds ×3 + 14.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.08sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.37sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 14.37sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 15.23sWARNros2_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 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641744 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641744 ms (missed cycles : 4).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101348 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101348 ms (missed cycles : 3).[0m ×2 + 8.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304920 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304920 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4).[0m ×2 + 13.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sERRORobjective_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: 1788546911.63728237 seconds ×3 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788546912.23708153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4).[0m ×2 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.83sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 59 errors · 39 warnings · 393 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-04 18:35:45.244] [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: 1788546945.25395799 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[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 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.25sINFOobjective_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 + 2.25sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788546948.82070875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788546949.96085882 seconds ×3 + 4.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2).[0m ×2 + 6.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133899 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133899 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813659 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813659 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428145 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.428145 ms (missed cycles : 4).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479138 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479138 ms (missed cycles : 5).[0m ×2 + 10.10sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.10sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_video_auth_proxy-23process has died [pid 7478, 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 + 10.11sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.12sERRORweb_bridge_auth_proxy-22process has died [pid 7477, 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 + 10.12sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.13sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.13sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.13sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.14sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.14sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.15sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.15sINFOvideo_server-21process has finished cleanly [pid 7476] ×2 + 10.15sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.16sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.16sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.16sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.17sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.17sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.18sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.18sINFOcontroller_managerShutdown request received.... + 10.18sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.18sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.18sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.18sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.18sINFOvideo_server2026/09/04 18:35:55 INF shutting down gracefully ×2 + 10.18sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.18sINFOvideo_server2026/09/04 18:35:55 INF [WebRTC] closing ×2 + 10.18sINFOvideo_server2026/09/04 18:35:55 INF [RTSP] closing ×2 + 10.18sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.18sINFOvideo_server2026/09/04 18:35:55 INF waiting for running hooks ×2 + 10.18sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.18sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.18sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.18sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.18sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.18sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.18sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.18sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.18sERRORmove_groupStack trace (most recent call last) in thread 7824: ×2 + 10.18sINFOcontroller_managerShutting down the controller manager. + 10.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.19sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.19sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.19sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.19sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.19sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.19sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8518a58a63, in __clone ×2 + 10.19sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f85189cbaa3, in ×2 + 10.19sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8518c5ddb3, in ×2 + 10.19sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f85193c2a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.19sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8518fef620, in rclcpp::Rate::sleep() ×2 + 10.19sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8518f31d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.19sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8518ef3087, in ×2 + 10.19sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8518c2c390, in __cxa_throw ×2 + 10.19sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8518c16a54, in std::terminate() ×2 + 10.19sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8518c2c0d9, in ×2 + 10.19sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8518c16ff4, in ×2 + 10.19sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f85189578fe, in abort ×2 + 10.19sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f851897427d, in raise ×2 + 10.19sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f85189cdb2c, in pthread_kill ×2 + 10.19sERRORmove_groupAborted (Signal sent by tkill() 7389 0) ×2 + 10.20sERRORmove_group-9process has died [pid 7389, 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_5v5hg7zz --params-file /tmp/launch_params_cakatqwz --params-file /tmp/launch_params_38jnosd6 --params-file /tmp/launch_params_aa9yka5a --params-file /tmp/launch_params_1q22_95q --params-file /tmp/launch_params_0o6vxagx']. ×2 + 10.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.39sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.18sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7475] ×2 + 11.18sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.20sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7393] ×2 + 11.21sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7392] ×2 + 11.23sINFOparameter_manager_node-10process has finished cleanly [pid 7390] ×2 + 11.24sINFOwaypoint_manager_node-11process has finished cleanly [pid 7391] ×2 + 11.25sINFOcomponent_container_mt-16process has finished cleanly [pid 7396] ×2 + 11.26sINFOexecute_objective_bridge-17process has finished cleanly [pid 7397] ×2 + 11.27sINFOui_teleop_bridge-18process has finished cleanly [pid 7398] ×2 + 11.28sINFOobjective_server_node[0;m[2026-09-04 18:35:56.521] [moveit_pro_license] [critical] ×2 + 11.28sINFOobjective_server_node************************************************* ×4 + 11.28sINFOobjective_server_node* MoveIt Pro License ×2 + 11.28sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.41sINFOobjective_server_node_main-14process has finished cleanly [pid 7394] ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.24sINFOweb_bridge-19process has finished cleanly [pid 7399] ×2 + 12.24sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.35sINFOcomponent_container_mt-15process has finished cleanly [pid 7395] ×2 + 12.84sINFOros2_control_node-1process has finished cleanly [pid 7348] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 61 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.64sINFOobjective_server_nodecaller: ×12 + 0.64sINFOobjective_server_nodetype: 0 ×12 + 0.64sINFOobjective_server_nodename: "" ×12 + 0.64sINFOobjective_server_nodeinstance_id: "" ×12 + 0.64sINFOobjective_server_node ×12 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.69sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 5.60sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.22sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964034 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964034 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402155 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402155 ms (missed cycles : 4).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869403 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869403 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.05sINFOros2_control_node[2026-09-04 18:31:32.042] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-09-04 18:31:32.042] [info] Accepted new action goal ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975337 ms (missed cycles : 6). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975337 ms (missed cycles : 6).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352525 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352525 ms (missed cycles : 2).[0m ×2 + 12.39sWARNros2_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 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373807 ms (missed cycles : 4). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373807 ms (missed cycles : 4).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-09-04 18:31:35.372] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-09-04 18:31:35.372] [info] Accepted new action goal ×2 + 13.74sINFOobjective_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 + 13.74sINFOros2_control_node[2026-09-04 18:31:35.738] [info] Got request to cancel active goal. ×2 + 13.74sINFOros2_control_node[2026-09-04 18:31:35.738] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1788546695.75443816 seconds ×3 + 13.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805960 ms (missed cycles : 5). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805960 ms (missed cycles : 5).[0m ×2 + 14.30sINFOobjective_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: ""
+ 14.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788546696.36591196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 14.58sINFOros2_control_node[2026-09-04 18:31:36.580] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-09-04 18:31:36.580] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021419 ms (missed cycles : 5). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021419 ms (missed cycles : 5).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191475 ms (missed cycles : 5). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191475 ms (missed cycles : 5).[0m ×2 + 16.85sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.85sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.86sINFOros2_control_node[2026-09-04 18:31:38.861] [info] Received new action goal ×2 + 16.86sINFOros2_control_node[2026-09-04 18:31:38.861] [info] Accepted new action goal ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322615 ms (missed cycles : 8). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322615 ms (missed cycles : 8).[0m ×2 + 17.40sWARNros2_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 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 407 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.49sERRORobjective_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: 1788546933.14596486 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.09sINFOobjective_server_nodecaller: ×14 + 2.09sINFOobjective_server_nodetype: 0 ×14 + 2.09sINFOobjective_server_nodename: "" ×14 + 2.09sINFOobjective_server_nodeinstance_id: "" ×14 + 2.09sINFOobjective_server_node ×14 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 3.76sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4).[0m ×2 + 6.88sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.88sINFOros2_control_node[2026-09-04 18:35:38.543] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-04 18:35:38.543] [info] Accepted new action goal ×2 + 6.88sINFOros2_control_node[2026-09-04 18:35:38.543] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723216 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723216 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033507 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033507 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754121 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754121 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 13.59sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 13.59sERRORobjective_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: 1788546945.25395799 seconds ×3 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 14.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 15.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.83sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 16.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 17.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_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 + 3.32sERRORobjective_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: 1788546911.63728237 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788546912.23708153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407536 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407536 ms (missed cycles : 4).[0m ×2 + 8.25sINFOros2_control_node[2026-09-04 18:35:16.568] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-09-04 18:35:16.568] [info] Accepted new action goal ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209734 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209734 ms (missed cycles : 4).[0m ×2 + 9.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365731 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365731 ms (missed cycles : 5).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2).[0m ×2 + 13.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788546922.15253115 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2).[0m ×2 + 14.20sWARNros2_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 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788546922.80409193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.66sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5).[0m ×2 + 16.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.4s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.83sINFOobjective_server_nodecaller: ×8 + 2.83sINFOobjective_server_nodetype: 0 ×8 + 2.84sINFOobjective_server_nodename: "" ×8 + 2.84sINFOobjective_server_nodeinstance_id: "" ×8 + 2.84sINFOobjective_server_node ×8 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509768 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509768 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 1 iterations (0.00434435 s). ×2 + 7.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.00sINFOros2_control_node[2026-09-04 18:31:52.540] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-09-04 18:31:52.540] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109704 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109704 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881202 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881202 ms (missed cycles : 2).[0m ×2 + 10.31sINFOros2_control_node[2026-09-04 18:31:54.850] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-09-04 18:31:54.850] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171378 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171378 ms (missed cycles : 4).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 12.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.08sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 13.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.85sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788546763.84696913 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.11sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.11sINFOobjective_server_nodecaller: ×6 + 2.11sINFOobjective_server_nodetype: 0 ×6 + 2.11sINFOobjective_server_nodename: "" ×6 + 2.11sINFOobjective_server_nodeinstance_id: "" ×6 + 2.11sINFOobjective_server_node ×6 + 2.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788546764.50992823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788546764.58006597 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.96sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.70sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.02sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 9.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 690 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.12sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.13sWARNros2_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 + 0.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.13sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.13sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.13sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.13sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.13sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.13sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.13sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.13sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.13sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.13sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.13sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831897 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831897 ms (missed cycles : 2).[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.17sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.21sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.31sINFOcomponent_container_mt[2026-09-04 18:31:17.760] [moveit_pro_license] [info] ×2 + 0.31sINFOcomponent_container_mt************************************************* ×4 + 0.31sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.31sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.51sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.51sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.51sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.51sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.54sINFOros2-3process has finished cleanly [pid 7350] ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.58sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.58sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.58sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.59sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.59sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.60sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.68sINFOros2_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 + 0.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.68sWARNros2_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 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.94sINFOros2-4process has finished cleanly [pid 7362] ×2 + 1.01sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 1.01sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 1.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.09sINFOros2_control_node[2026-09-04 18:31:18.535] [info] Controller state will be published at 20 Hz. ×2 + 1.09sINFOros2_control_node[2026-09-04 18:31:18.536] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366458 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366458 ms (missed cycles : 4).[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 1.39sINFOros2-8process has finished cleanly [pid 7366] ×2 + 1.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOforce_torque_sensor_broadcasterconfigure successful + 1.40sINFOros2_control_nodeconfigure successful[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.42sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.42sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.75sWARNobjective_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 + 1.76sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.76sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 1.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 1.79sINFOros2-2process has finished cleanly [pid 7349] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.84sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.12sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.12sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.12sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.18sINFOros2-5process has finished cleanly [pid 7363] ×2 + 2.19sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 2.19sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.25sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.61sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.61sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.63sINFOros2-7process has finished cleanly [pid 7365] ×2 + 2.68sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 2.68sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 2.72sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.72sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.72sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.72sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.74sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.74sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 2.75sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.86sINFOobjective_server_nodecaller: ×14 + 2.86sINFOobjective_server_nodetype: 0 ×14 + 2.86sINFOobjective_server_nodename: "" ×14 + 2.86sINFOobjective_server_nodeinstance_id: "" ×14 + 2.86sINFOobjective_server_node ×14 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 3.13sINFOros2-6process has finished cleanly [pid 7364] ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 4.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 4.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 8.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 8.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.11sINFOobjective_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 + 8.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.23sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 8.24sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1788546945.25395799 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 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 ×8 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.64sINFOobjective_server_nodecaller: ×8 + 3.64sINFOobjective_server_nodetype: 0 ×8 + 3.64sINFOobjective_server_nodename: "" ×8 + 3.64sINFOobjective_server_nodeinstance_id: "" ×8 + 3.64sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788546948.82070875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2).[0m ×2 + 7.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788546949.96085882 seconds ×3 + 7.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 1.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 1.04sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 1.05sERRORobjective_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: 1788546945.25395799 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.60sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.60sINFOobjective_server_nodecaller: ×8 + 1.60sINFOobjective_server_nodetype: 0 ×8 + 1.60sINFOobjective_server_nodename: "" ×8 + 1.60sINFOobjective_server_nodeinstance_id: "" ×8 + 1.60sINFOobjective_server_node ×8 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.29sINFOobjective_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 + 3.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788546948.82070875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788546949.96085882 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2).[0m ×2 + 7.34sWARNros2_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 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133899 ms (missed cycles : 6). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133899 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788546763.84696913 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788546764.50992823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788546764.58006597 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.97sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 18:31:54.850] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 18:31:54.850] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171378 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171378 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 3.59sWARNros2_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 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.53sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 508 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7349] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 7363] ×2 + 0.44sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.44sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.50sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.88sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 1.38sINFOros2-6process has finished cleanly [pid 7364] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 4.06sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 1.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 1.04sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 1.05sERRORobjective_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: 1788546945.25395799 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.60sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.60sINFOobjective_server_nodecaller: ×8 + 1.60sINFOobjective_server_nodetype: 0 ×8 + 1.60sINFOobjective_server_nodename: "" ×8 + 1.60sINFOobjective_server_nodeinstance_id: "" ×8 + 1.60sINFOobjective_server_node ×8 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.29sINFOobjective_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 + 3.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788546948.82070875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074483 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788546949.96085882 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400494 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 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 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850723 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850723 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 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 4.060844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060844 ms (missed cycles : 3).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650668 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080775 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1788546706.73644495 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788546707.43146539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788546707.51159453 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683778 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788546708.16107988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-04 18:31:48.385] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210116 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786042 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794448 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 18:31:56.615] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705228 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788546717.90166235 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537172 ms (missed cycles : 3).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788546718.52345300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788546718.61358428 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788546719.26007318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 18:31:59.384] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438081 ms (missed cycles : 5).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.285003 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257419 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789256 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-04 18:32:07.442] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577886 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808035 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-04 18:32:09.640] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1788546729.64339185 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840030 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788546730.31214952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-04 18:32:10.516] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883846 ms (missed cycles : 6).[0m ×2 + 4.33sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986132 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.35sINFOobjective_server_nodeFound path in 1 iterations (0.0032567 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-04 18:32:29.952] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 18:32:30.354] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191381 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538739 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1788546751.76030469 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.08sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.08sINFOobjective_server_nodecaller: ×2 + 3.08sINFOobjective_server_nodetype: 0 ×2 + 3.08sINFOobjective_server_nodename: "" ×2 + 3.08sINFOobjective_server_nodeinstance_id: "" ×2 + 3.08sINFOobjective_server_node ×2 + 3.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788546752.56369257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244741 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.38sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 18:32:32.747] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515779 ms (missed cycles : 2).[0m ×2 + 4.91sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617011 ms (missed cycles : 2).[0m ×2 + 5.91sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-04 18:32:35.285] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797943 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529864 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769076 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788546763.84696913 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150135 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788546764.50992823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788546764.58006597 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.97sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788546765.18671679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-04 18:32:45.311] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385494 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755757 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_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 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788546767.31686425 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224807 ms (missed cycles : 5).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621948 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788546768.95506644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 18:32:49.373] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880052 ms (missed cycles : 5).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719624 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078792 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 21 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751659 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.710299 ms (missed cycles : 7).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435805 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788546822.88405180 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468152 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_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: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788546823.49777055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 18:33:43.671] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532230 ms (missed cycles : 6).[0m ×2 + 4.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730664 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857935 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 · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716078 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700297 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788546889.43574691 seconds ×3 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_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: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788546890.17041397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260534 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 18:34:50.394] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090007 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333614 ms (missed cycles : 6).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-04 18:34:58.545] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978702 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788546899.83063173 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689013 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902457 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788546901.30679917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-04 18:35:01.501] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322788 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278528 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714347 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845808 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341517 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521740 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_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 + 3.32sERRORobjective_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: 1788546911.63728237 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788546912.23708153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987986 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 18:35:12.551] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193312 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711868 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600540 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585471 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762540 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788546922.15253115 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016966 ms (missed cycles : 2).[0m ×2 + 3.47sWARNros2_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 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788546922.80409193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 18:35:22.978] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400205 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485683 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818309 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260353 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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 + 2.58sERRORobjective_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: 1788546933.14596486 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1788546933.14596486 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 3.76sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1788546933.14596486 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 3.76sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718514 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720466 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1788546933.14596486 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057794 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788546933.80856752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788546933.87870264 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788546934.48117542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788546934.50351644 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.470612 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788546935.10435343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 18:35:35.218] [info] Accepted new action goal ×2 + 3.76sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764834 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840273 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192993 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1788546945.25395799 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 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 ×8 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.64sINFOobjective_server_nodecaller: ×8 + 3.64sINFOobjective_server_nodetype: 0 ×8 + 3.64sINFOobjective_server_nodename: "" ×8 + 3.64sINFOobjective_server_nodeinstance_id: "" ×8 + 3.64sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495055 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952847 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687180 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-04 18:35:45.244] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1788546945.25395799 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 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 ×8 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668892 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.64sINFOobjective_server_nodecaller: ×8 + 3.64sINFOobjective_server_nodetype: 0 ×8 + 3.64sINFOobjective_server_nodename: "" ×8 + 3.64sINFOobjective_server_nodeinstance_id: "" ×8 + 3.64sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788546945.85363197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312070 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788546946.89377832 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873202 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788546947.48923326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788546947.49135566 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788546948.09103036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788546948.09150839 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653459 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.2s | 42 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-18-31-13-147059-94904536320b-7300 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003111 ms (missed cycles : 3). + 0.84sINFOros2_control_node-1process started with pid [7348] ×2 + 0.84sINFOmove_group-9process started with pid [7389] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7390] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7391] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7392] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7393] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7394] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7395] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7396] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7397] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7398] ×2 + 0.84sINFOweb_bridge-19process started with pid [7399] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7475] ×2 + 0.84sINFOvideo_server-21process started with pid [7476] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7477] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7478] ×2 + 0.86sINFOros2-2process started with pid [7349] ×2 + 0.86sINFOros2-3process started with pid [7350] ×2 + 0.86sINFOros2-4process started with pid [7362] ×2 + 0.86sINFOros2-5process started with pid [7363] ×2 + 0.86sINFOros2-6process started with pid [7364] ×2 + 0.86sINFOros2-7process started with pid [7365] ×2 + 0.86sINFOros2-8process started with pid [7366] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003111 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF configuration loaded from /tmp/moveit-webrtc-pqvlj4nw/mediamtx.yml ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.57sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.94sINFOmove_group[2026-09-04 18:31:15.488] [moveit_pro_license] [info] ×2 + 1.94sINFOmove_group************************************************* ×4 + 1.94sINFOmove_group* MoveIt Pro License ×2 + 1.94sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.24sINFOwaypoint_manager_node[2026-09-04 18:31:15.787] [moveit_pro_license] [info] ×2 + 2.24sINFOwaypoint_manager_node************************************************* ×4 + 2.24sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.24sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319828 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319828 ms (missed cycles : 5).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.39sINFOmove_group ×4 + 2.39sINFOmove_group[92mYou can start planning now![0m ×2 + 3.45sINFOobjective_server_node[2026-09-04 18:31:16.993] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.59sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.59sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.02sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.03sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.03sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.03sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.03sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.03sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.03sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831897 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831897 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.07sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.07sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 4.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 4.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.10sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.21sINFOcomponent_container_mt[2026-09-04 18:31:17.760] [moveit_pro_license] [info] ×2 + 4.21sINFOcomponent_container_mt************************************************* ×4 + 4.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.41sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.41sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 4.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 4.45sINFOros2-3process has finished cleanly [pid 7350] ×2 + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.58sINFOros2_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 + 4.58sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.58sWARNros2_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 + 4.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.84sINFOros2-4process has finished cleanly [pid 7362] ×2 + 4.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 4.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 4.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.97sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.99sINFOros2_control_node[2026-09-04 18:31:18.535] [info] Controller state will be published at 20 Hz. ×2 + 4.99sINFOros2_control_node[2026-09-04 18:31:18.536] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366458 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366458 ms (missed cycles : 4).[0m ×2 + 5.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 5.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 5.29sINFOros2-8process has finished cleanly [pid 7366] ×2 + 5.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.31sINFOforce_torque_sensor_broadcasterconfigure successful + 5.31sINFOros2_control_nodeconfigure successful[0m ×2 + 5.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.65sWARNobjective_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 + 5.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 5.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 5.69sINFOros2-2process has finished cleanly [pid 7349] ×2 + 5.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.73sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.73sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.73sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.73sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.74sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.74sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.76sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.08sINFOros2-5process has finished cleanly [pid 7363] ×2 + 6.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 6.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 6.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.15sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 6.16sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 6.51sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.51sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.51sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.53sINFOros2-7process has finished cleanly [pid 7365] ×2 + 6.58sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 6.58sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 6.62sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.62sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.62sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.62sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.64sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.64sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 6.65sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.76sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.76sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.76sINFOobjective_server_nodecaller: ×10 + 6.76sINFOobjective_server_nodetype: 0 ×10 + 6.76sINFOobjective_server_nodename: "" ×10 + 6.76sINFOobjective_server_nodeinstance_id: "" ×10 + 6.76sINFOobjective_server_node ×10 + 6.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 7.03sINFOros2-6process has finished cleanly [pid 7364] ×2 + 7.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 8.45sWARNros2_control_nodeCamera render tick took 1.93 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 + 8.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 9.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 9.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 9.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 10.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 341 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 1.42sWARNros2_control_nodeCamera render tick took 1.93 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 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_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 2.217057 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 7.02sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 7.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.23sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.23sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.38sINFOobjective_server_nodecaller: ×14 + 0.38sINFOobjective_server_nodetype: 0 ×14 + 0.38sINFOobjective_server_nodename: "" ×14 + 0.38sINFOobjective_server_nodeinstance_id: "" ×14 + 0.38sINFOobjective_server_node ×14 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.65sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.06sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.75sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[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 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.88sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 163 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-18-31-13-147059-94904536320b-7300 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003111 ms (missed cycles : 3). + 0.84sINFOros2_control_node-1process started with pid [7348] ×2 + 0.84sINFOmove_group-9process started with pid [7389] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7390] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7391] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7392] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7393] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7394] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7395] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7396] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7397] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7398] ×2 + 0.84sINFOweb_bridge-19process started with pid [7399] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7475] ×2 + 0.84sINFOvideo_server-21process started with pid [7476] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7477] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7478] ×2 + 0.86sINFOros2-2process started with pid [7349] ×2 + 0.86sINFOros2-3process started with pid [7350] ×2 + 0.86sINFOros2-4process started with pid [7362] ×2 + 0.86sINFOros2-5process started with pid [7363] ×2 + 0.86sINFOros2-6process started with pid [7364] ×2 + 0.86sINFOros2-7process started with pid [7365] ×2 + 0.86sINFOros2-8process started with pid [7366] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003111 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF configuration loaded from /tmp/moveit-webrtc-pqvlj4nw/mediamtx.yml ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.10sINFOvideo_server2026/09/04 18:31:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.57sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.94sINFOmove_group[2026-09-04 18:31:15.488] [moveit_pro_license] [info] ×2 + 1.94sINFOmove_group************************************************* ×4 + 1.94sINFOmove_group* MoveIt Pro License ×2 + 1.94sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.24sINFOwaypoint_manager_node[2026-09-04 18:31:15.787] [moveit_pro_license] [info] ×2 + 2.24sINFOwaypoint_manager_node************************************************* ×4 + 2.24sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.24sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319828 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319828 ms (missed cycles : 5).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.39sINFOmove_group ×4 + 2.39sINFOmove_group[92mYou can start planning now![0m ×2 + 3.45sINFOobjective_server_node[2026-09-04 18:31:16.993] [moveit_pro_license] [info] ×2 + 3.45sINFOobjective_server_node************************************************* ×4 + 3.45sINFOobjective_server_node* MoveIt Pro License ×2 + 3.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 508 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7349] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 7363] ×2 + 0.44sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.44sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.50sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.88sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 1.38sINFOros2-6process has finished cleanly [pid 7364] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 4.06sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 508 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7349] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 7363] ×2 + 0.44sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.44sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.50sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.88sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 1.38sINFOros2-6process has finished cleanly [pid 7364] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 4.06sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 508 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7349] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 7363] ×2 + 0.44sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.44sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.50sINFOros2_control_node[2026-09-04 18:31:19.702] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-04 18:31:19.704] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.88sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.97sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.99sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.11sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.11sINFOobjective_server_nodecaller: ×14 + 1.11sINFOobjective_server_nodetype: 0 ×14 + 1.11sINFOobjective_server_nodename: "" ×14 + 1.11sINFOobjective_server_nodeinstance_id: "" ×14 + 1.11sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 1.38sINFOros2-6process has finished cleanly [pid 7364] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 4.06sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_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 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120756 ms (missed cycles : 2).[0m ×2 + 0.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2-7process has finished cleanly [pid 7365] ×2 + 0.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba + 0.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sg_2ra_i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2kdyh5ub --params-file /tmp/launch_params_jjlbikba [0m ×2 + 0.23sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.23sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_node[2026-09-04 18:31:20.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.192] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.192] [info] Controller state will be published at 50 Hz. ×2 + 0.26sINFOros2_control_node[2026-09-04 18:31:20.197] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.38sINFOobjective_server_nodecaller: ×14 + 0.38sINFOobjective_server_nodetype: 0 ×14 + 0.38sINFOobjective_server_nodename: "" ×14 + 0.38sINFOobjective_server_nodeinstance_id: "" ×14 + 0.38sINFOobjective_server_node ×14 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788546680.36453032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788546680.37480664 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.65sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 2.06sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.75sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7364] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788546680.96218371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 1.42sWARNros2_control_nodeCamera render tick took 1.93 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 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_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 2.217057 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 30 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.88sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-04 18:31:28.213] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451134 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788546682.07236266 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217057 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788546682.68817949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788546682.74837708 seconds ×3 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788546683.41425538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964255 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788546683.43438864 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788546684.04272079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788546684.19378853 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650061 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788546684.89181328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788546684.94196033 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339100 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788546685.54817057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.6219e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-04 18:31:25.685] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608947 ms (missed cycles : 4).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620778 ms (missed cycles : 4).[0m ×2 + 6.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||