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 | 160 warnings · 19740 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4).[0m ×2 + 2.13sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788549858.58774734 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_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: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788549859.19525647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.08sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_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 + 4.36sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281090 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281090 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3246 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3246 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6492 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×6492 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746519 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746519 ms (missed cycles : 4).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924555 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924555 ms (missed cycles : 3).[0m ×2 + 8.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220831 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220831 ms (missed cycles : 2).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950002 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950002 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970670 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970670 ms (missed cycles : 2).[0m ×2 + 11.42sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.42sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.42sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793652 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793652 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928613 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928613 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720092 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720092 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183413 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183413 ms (missed cycles : 2).[0m ×2 + 15.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645117 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645117 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920444 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920444 ms (missed cycles : 3).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.462850 ms (missed cycles : 8). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.462850 ms (missed cycles : 8).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957817 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957817 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270542 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270542 ms (missed cycles : 2).[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128642 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128642 ms (missed cycles : 2).[0m ×2 + 22.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479606 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479606 ms (missed cycles : 3).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705419 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705419 ms (missed cycles : 2).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065140 ms (missed cycles : 4). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065140 ms (missed cycles : 4).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876195 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876195 ms (missed cycles : 2).[0m ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092588 ms (missed cycles : 2). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092588 ms (missed cycles : 2).[0m ×2 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178748 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178748 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974179 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974179 ms (missed cycles : 2).[0m ×2 + 29.42sWARNros2_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 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950381 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950381 ms (missed cycles : 2).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701210 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701210 ms (missed cycles : 2).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129948 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129948 ms (missed cycles : 2).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856956 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856956 ms (missed cycles : 2).[0m ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203841 ms (missed cycles : 2). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203841 ms (missed cycles : 2).[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849095 ms (missed cycles : 2). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849095 ms (missed cycles : 2).[0m ×2 + 35.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×4 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693866 ms (missed cycles : 2). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693866 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.373093 ms (missed cycles : 8). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.373093 ms (missed cycles : 8).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040982 ms (missed cycles : 4). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040982 ms (missed cycles : 4).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972266 ms (missed cycles : 2). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972266 ms (missed cycles : 2).[0m ×2 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093940 ms (missed cycles : 2). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093940 ms (missed cycles : 2).[0m ×2 + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349626 ms (missed cycles : 7). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.349626 ms (missed cycles : 7).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739392 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739392 ms (missed cycles : 2).[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699140 ms (missed cycles : 2). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699140 ms (missed cycles : 2).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460351 ms (missed cycles : 2). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460351 ms (missed cycles : 2).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751389 ms (missed cycles : 4). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751389 ms (missed cycles : 4).[0m ×2 + 46.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549903.00428152 seconds ×3 + 46.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.28sINFOobjective_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: ""
+ 47.28sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788549903.64622331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.42sINFOobjective_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 + 47.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809987 ms (missed cycles : 2). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809987 ms (missed cycles : 2).[0m ×2 + 47.52sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 47.52sINFOros2_control_node[2026-09-04 19:25:03.800] [info] Received new action goal ×2 + 47.52sINFOros2_control_node[2026-09-04 19:25:03.800] [info] Accepted new action goal ×2 + 47.79sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.22sWARNros2_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 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933417 ms (missed cycles : 3). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933417 ms (missed cycles : 3).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034572 ms (missed cycles : 2). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034572 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-04 19:23:28.585] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-04 19:23:28.585] [info] Accepted new action goal ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956024 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956024 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423458 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423458 ms (missed cycles : 2).[0m ×2 + 9.03sWARNros2_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 ×4 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030700 ms (missed cycles : 6). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.030700 ms (missed cycles : 6).[0m ×2 + 10.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.37sINFOros2_control_node[2026-09-04 19:23:31.864] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-04 19:23:31.864] [info] Accepted new action goal ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035873 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035873 ms (missed cycles : 3).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700012 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700012 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367773 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367773 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-09-04 19:23:34.877] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-09-04 19:23:34.877] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966088 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966088 ms (missed cycles : 3).[0m ×2 + 14.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743589 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743589 ms (missed cycles : 3).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930862 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930862 ms (missed cycles : 3).[0m ×2 + 16.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.35sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111994 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111994 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316434 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316434 ms (missed cycles : 2).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972224 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972224 ms (missed cycles : 2).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580953 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580953 ms (missed cycles : 3).[0m ×2 + 21.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277575 ms (missed cycles : 4). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277575 ms (missed cycles : 4).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644084 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644084 ms (missed cycles : 3).[0m ×2 + 23.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.410466 ms (missed cycles : 8). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.410466 ms (missed cycles : 8).[0m ×2 + 24.07sINFOros2_control_node[2026-09-04 19:23:45.567] [info] Received new action goal ×2 + 24.07sINFOros2_control_node[2026-09-04 19:23:45.567] [info] Accepted new action goal ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028737 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028737 ms (missed cycles : 2).[0m ×2 + 25.23sINFOobjective_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 + 25.24sINFOobjective_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 + 25.52sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 25.53sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.57sINFOros2_control_node[2026-09-04 19:23:47.068] [info] Received new action goal ×2 + 25.57sINFOros2_control_node[2026-09-04 19:23:47.068] [info] Accepted new action goal ×2 + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899809 ms (missed cycles : 4). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899809 ms (missed cycles : 4).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637720 ms (missed cycles : 3). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637720 ms (missed cycles : 3).[0m ×2 + 27.71sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 27.71sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.73sINFOros2_control_node[2026-09-04 19:23:49.220] [info] Received new action goal ×2 + 27.73sINFOros2_control_node[2026-09-04 19:23:49.220] [info] Accepted new action goal ×2 + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375206 ms (missed cycles : 5). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375206 ms (missed cycles : 5).[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 34.469667 ms (missed cycles : 21). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 34.469667 ms (missed cycles : 21).[0m ×2 + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911113 ms (missed cycles : 5). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911113 ms (missed cycles : 5).[0m ×2 + 30.86sINFOros2_control_node[2026-09-04 19:23:52.354] [info] Received new action goal ×2 + 30.86sINFOros2_control_node[2026-09-04 19:23:52.354] [info] Accepted new action goal ×2 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139126 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139126 ms (missed cycles : 3).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726516 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726516 ms (missed cycles : 3).[0m ×2 + 33.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069071 ms (missed cycles : 3). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069071 ms (missed cycles : 3).[0m ×2 + 33.46sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 33.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.51sINFOros2_control_node[2026-09-04 19:23:55.008] [info] Received new action goal ×2 + 33.51sINFOros2_control_node[2026-09-04 19:23:55.008] [info] Accepted new action goal ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394614 ms (missed cycles : 4). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394614 ms (missed cycles : 4).[0m ×2 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375886 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375886 ms (missed cycles : 3).[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565199 ms (missed cycles : 2). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565199 ms (missed cycles : 2).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072537 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072537 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785560 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785560 ms (missed cycles : 2).[0m ×2 + 39.09sWARNros2_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 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991559 ms (missed cycles : 5). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991559 ms (missed cycles : 5).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003930 ms (missed cycles : 4). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003930 ms (missed cycles : 4).[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273760 ms (missed cycles : 2). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273760 ms (missed cycles : 2).[0m ×2 + 42.57sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494632 ms (missed cycles : 5). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494632 ms (missed cycles : 5).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724183 ms (missed cycles : 3). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724183 ms (missed cycles : 3).[0m ×2 + 44.19sINFOros2_control_node[2026-09-04 19:24:05.684] [info] Received new action goal ×2 + 44.19sINFOros2_control_node[2026-09-04 19:24:05.684] [info] Accepted new action goal ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293153 ms (missed cycles : 4). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293153 ms (missed cycles : 4).[0m ×2 + 45.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788549846.84072137 seconds ×3 + 45.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.94sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.12sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788549847.61759901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587265 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587265 ms (missed cycles : 3).[0m ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880854 ms (missed cycles : 2). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880854 ms (missed cycles : 2).[0m ×2 + 47.34sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 47.37sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.39sINFOros2_control_node[2026-09-04 19:24:08.883] [info] Received new action goal ×2 + 47.39sINFOros2_control_node[2026-09-04 19:24:08.883] [info] Accepted new action goal ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792009 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792009 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 | 91 warnings · 13680 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2247 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2247 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4494 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4494 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699140 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699140 ms (missed cycles : 2).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460351 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460351 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751389 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751389 ms (missed cycles : 4).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549903.00428152 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788549903.64622331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809987 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809987 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-09-04 19:25:03.800] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-04 19:25:03.800] [info] Accepted new action goal ×2 + 4.33sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.76sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933417 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933417 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_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 + 5.39sINFOobjective_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 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034572 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034572 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822638 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822638 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378995 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378995 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298785 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298785 ms (missed cycles : 2).[0m ×2 + 9.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504966 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504966 ms (missed cycles : 4).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844447 ms (missed cycles : 5). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844447 ms (missed cycles : 5).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739493 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739493 ms (missed cycles : 2).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901229 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901229 ms (missed cycles : 4).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430825 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430825 ms (missed cycles : 2).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739274 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739274 ms (missed cycles : 2).[0m ×2 + 15.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921149 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921149 ms (missed cycles : 2).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322231 ms (missed cycles : 8). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.322231 ms (missed cycles : 8).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078337 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078337 ms (missed cycles : 2).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711276 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711276 ms (missed cycles : 2).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825890 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825890 ms (missed cycles : 2).[0m ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 22.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 25.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_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: ""
+ 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.32sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 28.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00330018 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.61sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Accepted new action goal ×2 + 1.01sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Accepted new action goal ×2 + 1.23sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1788549788.16864681 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549788.96508527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3).[0m ×2 + 6.46sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4).[0m ×2 + 7.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374264 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374264 ms (missed cycles : 3).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148475 ms (missed cycles : 5). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148475 ms (missed cycles : 5).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570500 ms (missed cycles : 4). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570500 ms (missed cycles : 4).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980796 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980796 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181042 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181042 ms (missed cycles : 4).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2).[0m ×2 + 13.22sWARNros2_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 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549800.21310782 seconds ×3 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5).[0m ×2 + 15.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549800.87994957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549800.95018554 seconds ×3 + 16.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 16.30sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 16.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.47sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 18.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 61 errors · 39 warnings · 391 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 19:26:20.628] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-04 19:26:20.628] [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: 1788549980.63296652 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.69sINFOobjective_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 + 1.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 + 3.76sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788549984.76832104 seconds ×3 + 4.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363233 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363233 ms (missed cycles : 5).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.309144 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.309144 ms (missed cycles : 6).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276719 ms (missed cycles : 5). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276719 ms (missed cycles : 5).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973321 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973321 ms (missed cycles : 2).[0m ×2 + 9.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675047 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675047 ms (missed cycles : 3).[0m ×2 + 10.34sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.35sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORweb_video_auth_proxy-23process has died [pid 7451, 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 + 10.35sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.36sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge_auth_proxy-22process has died [pid 7450, 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 + 10.36sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.36sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.37sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.37sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.38sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.38sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.38sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.39sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.39sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.40sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.40sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.41sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.41sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.41sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.42sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.42sINFOcontroller_managerShutdown request received.... + 10.42sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.42sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.42sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.42sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.42sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.42sINFOvideo_server2026/09/04 19:26:30 INF shutting down gracefully ×2 + 10.42sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.42sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.42sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.42sINFOvideo_server-21process has finished cleanly [pid 7449] ×2 + 10.42sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.42sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.42sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOcontroller_managerShutting down the controller manager. + 10.42sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOvideo_server2026/09/04 19:26:31 INF [WebRTC] closing ×2 + 10.42sINFOvideo_server2026/09/04 19:26:31 INF [RTSP] closing ×2 + 10.42sINFOvideo_server2026/09/04 19:26:31 INF waiting for running hooks ×2 + 10.43sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.43sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.43sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.43sERRORmove_groupStack trace (most recent call last) in thread 7808: ×2 + 10.43sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.43sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.43sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.43sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.43sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.43sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.43sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.43sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.43sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.43sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.43sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.43sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.43sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.43sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.43sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.43sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc806878a63, in __clone ×2 + 10.43sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8067ebaa3, in ×2 + 10.43sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc806a7ddb3, in ×2 + 10.43sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fc8071e2a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.43sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc806e0f620, in rclcpp::Rate::sleep() ×2 + 10.43sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc806d51d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.43sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc806d13087, in ×2 + 10.43sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc806a4c390, in __cxa_throw ×2 + 10.43sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc806a36a54, in std::terminate() ×2 + 10.43sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc806a4c0d9, in ×2 + 10.43sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc806a36ff4, in ×2 + 10.43sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8067778fe, in abort ×2 + 10.43sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc80679427d, in raise ×2 + 10.43sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc8067edb2c, in pthread_kill ×2 + 10.43sERRORmove_groupAborted (Signal sent by tkill() 7362 0) ×2 + 10.43sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.44sERRORmove_group-9process has died [pid 7362, 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_mwvydlvv --params-file /tmp/launch_params_toe399cs --params-file /tmp/launch_params_nlaj2why --params-file /tmp/launch_params_9n0i786y --params-file /tmp/launch_params_ubpq5gs2 --params-file /tmp/launch_params_zufmw6uf']. ×2 + 10.63sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.63sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.63sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.41sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7448] ×2 + 11.41sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.44sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7366] ×2 + 11.45sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7365] ×2 + 11.48sINFOexecute_objective_bridge-17process has finished cleanly [pid 7370] ×2 + 11.48sINFOwaypoint_manager_node-11process has finished cleanly [pid 7364] ×2 + 11.49sINFOcomponent_container_mt-16process has finished cleanly [pid 7369] ×2 + 11.49sINFOparameter_manager_node-10process has finished cleanly [pid 7363] ×2 + 11.49sINFOui_teleop_bridge-18process has finished cleanly [pid 7371] ×2 + 11.58sINFOobjective_server_node[0;m[2026-09-04 19:26:32.209] [moveit_pro_license] [info] ×2 + 11.58sINFOobjective_server_node************************************************* ×4 + 11.58sINFOobjective_server_node* MoveIt Pro License ×2 + 11.58sINFOobjective_server_node* Application has successfully terminated ×2 + 11.71sINFOobjective_server_node_main-14process has finished cleanly [pid 7367] ×2 + 11.71sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.58sINFOcomponent_container_mt-15process has finished cleanly [pid 7368] ×2 + 12.62sINFOweb_bridge-19process has finished cleanly [pid 7372] ×2 + 12.62sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.06sINFOros2_control_node-1process has finished cleanly [pid 7321] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494632 ms (missed cycles : 5). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494632 ms (missed cycles : 5).[0m ×2 + 0.74sINFOobjective_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 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.74sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.74sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724183 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724183 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-04 19:24:05.684] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-04 19:24:05.684] [info] Accepted new action goal ×2 + 2.54sWARNros2_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 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293153 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293153 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788549846.84072137 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788549847.61759901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587265 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587265 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880854 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880854 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.82sINFOros2_control_node[2026-09-04 19:24:08.883] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-04 19:24:08.883] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792009 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792009 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273330 ms (missed cycles : 5). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273330 ms (missed cycles : 5).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851967 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851967 ms (missed cycles : 2).[0m ×2 + 8.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 8.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.52sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.52sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.52sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.52sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301130 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301130 ms (missed cycles : 2).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620126 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620126 ms (missed cycles : 3).[0m ×2 + 10.89sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.92sINFOros2_control_node[2026-09-04 19:24:14.982] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-09-04 19:24:14.982] [info] Accepted new action goal ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809136 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809136 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4).[0m ×2 + 14.34sWARNros2_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 + 14.52sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788549858.58774734 seconds ×3 + 15.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788549859.19525647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 15.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.30sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3).[0m ×2 + 16.56sINFOobjective_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 + 16.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 62 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900656 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900656 ms (missed cycles : 3).[0m ×2 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 1 iterations (0.00296545 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682908 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682908 ms (missed cycles : 2).[0m ×2 + 7.98sINFOobjective_server_nodeFound path in 2 iterations (0.00771517 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 1 iterations (0.00493426 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.76sINFOros2_control_node[2026-09-04 19:22:52.082] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-09-04 19:22:52.082] [info] Accepted new action goal ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967931 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967931 ms (missed cycles : 2).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345900 ms (missed cycles : 6). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345900 ms (missed cycles : 6).[0m ×2 + 11.03sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041456 ms (missed cycles : 3). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041456 ms (missed cycles : 3).[0m ×2 + 11.29sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.29sWARNui_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 + 11.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788549774.64576077 seconds ×3 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039421 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039421 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686008 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686008 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331884 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331884 ms (missed cycles : 5).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788549777.76471639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.77sINFOros2_control_node[2026-09-04 19:22:58.088] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-09-04 19:22:58.088] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656339 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656339 ms (missed cycles : 2).[0m ×2 + 17.12sWARNros2_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 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357734 ms (missed cycles : 5). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357734 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.55sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.34sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.07sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448493 ms (missed cycles : 5). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448493 ms (missed cycles : 5).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564748 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564748 ms (missed cycles : 3).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141019 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141019 ms (missed cycles : 3).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 9.87sINFOros2_control_node[2026-09-04 19:22:08.590] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-09-04 19:22:08.590] [info] Accepted new action goal ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769989 ms (missed cycles : 6). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769989 ms (missed cycles : 6).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256489 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256489 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419121 ms (missed cycles : 5). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419121 ms (missed cycles : 5).[0m ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.21sINFOros2_control_node[2026-09-04 19:22:11.930] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-09-04 19:22:11.930] [info] Accepted new action goal ×2 + 13.82sINFOobjective_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 + 13.82sINFOros2_control_node[2026-09-04 19:22:12.546] [info] Got request to cancel active goal. ×2 + 13.83sINFOros2_control_node[2026-09-04 19:22:12.546] [info] Canceling active goal... ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274319 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274319 ms (missed cycles : 2).[0m ×2 + 13.85sERRORobjective_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: 1788549732.57148957 seconds ×3 + 13.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.39sINFOobjective_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: ""
+ 14.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788549733.17432833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 14.67sINFOros2_control_node[2026-09-04 19:22:13.388] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-09-04 19:22:13.388] [info] Accepted new action goal ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669653 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669653 ms (missed cycles : 4).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132180 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132180 ms (missed cycles : 2).[0m ×2 + 16.93sINFOobjective_server_nodeFound path in 0 iterations (5.78e-07 s). ×2 + 16.94sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.95sINFOros2_control_node[2026-09-04 19:22:15.668] [info] Received new action goal ×2 + 16.95sINFOros2_control_node[2026-09-04 19:22:15.668] [info] Accepted new action goal ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448450 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448450 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041456 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041456 ms (missed cycles : 3).[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788549774.64576077 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039421 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039421 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686008 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686008 ms (missed cycles : 2).[0m ×2 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331884 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331884 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788549777.76471639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 19:22:58.088] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 19:22:58.088] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656339 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656339 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357734 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357734 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670836 ms (missed cycles : 6). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670836 ms (missed cycles : 6).[0m ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00283934 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 2 iterations (0.00507984 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.0040409 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.55sINFOros2_control_node[2026-09-04 19:23:02.891] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-09-04 19:23:02.891] [info] Accepted new action goal ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147228 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147228 ms (missed cycles : 2).[0m ×2 + 9.72sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857978 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857978 ms (missed cycles : 3).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5).[0m ×2 + 11.08sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 11.08sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 11.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.22sINFOobjective_server_nodeFound path in 1 iterations (0.00330018 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.47sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Received new action goal ×2 + 11.47sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Accepted new action goal ×2 + 11.87sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Accepted new action goal ×2 + 12.08sWARNros2_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 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2).[0m ×2 + 13.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.80sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.80sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_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: 1788549788.16864681 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549788.96508527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.81sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Accepted new action goal ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3).[0m ×2 + 17.31sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Received new action goal ×2 + 17.31sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Accepted new action goal ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339041 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339041 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796584 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796584 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835493 ms (missed cycles : 3). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835493 ms (missed cycles : 3).[0m ×2 + 9.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209121 ms (missed cycles : 4). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209121 ms (missed cycles : 4).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sERRORobjective_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: 1788549947.04935384 seconds ×3 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3).[0m ×2 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788549947.65072322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.10sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6).[0m ×2 + 16.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256489 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256489 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419121 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419121 ms (missed cycles : 5).[0m ×2 + 1.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.58sINFOros2_control_node[2026-09-04 19:22:11.930] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-09-04 19:22:11.930] [info] Accepted new action goal ×2 + 2.19sINFOobjective_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 + 2.19sINFOros2_control_node[2026-09-04 19:22:12.546] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-09-04 19:22:12.546] [info] Canceling active goal... ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274319 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274319 ms (missed cycles : 2).[0m ×2 + 2.22sERRORobjective_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: 1788549732.57148957 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.75sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.75sINFOobjective_server_nodecaller: ×6 + 2.75sINFOobjective_server_nodetype: 0 ×6 + 2.75sINFOobjective_server_nodename: "" ×6 + 2.75sINFOobjective_server_nodeinstance_id: "" ×6 + 2.75sINFOobjective_server_node ×6 + 2.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788549733.17432833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-09-04 19:22:13.388] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-09-04 19:22:13.388] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669653 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669653 ms (missed cycles : 4).[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132180 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132180 ms (missed cycles : 2).[0m ×2 + 5.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (5.78e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:22:15.668] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:22:15.668] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448450 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448450 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237775 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237775 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287187 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287187 ms (missed cycles : 5).[0m ×2 + 8.30sWARNros2_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 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987590 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800360 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800360 ms (missed cycles : 5).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 13.19sERRORobjective_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: 1788549743.54486799 seconds ×3 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 14.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 14.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.80sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788549957.60313988 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.26sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.26sINFOobjective_server_nodecaller: ×8 + 3.26sINFOobjective_server_nodetype: 0 ×8 + 3.26sINFOobjective_server_nodename: "" ×8 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788549958.25401926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806059 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806059 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790854 ms (missed cycles : 4). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790854 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325261 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325261 ms (missed cycles : 2).[0m ×2 + 9.13sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405852 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405852 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 12.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 13.61sINFOobjective_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 + 13.62sERRORobjective_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: 1788549968.55428314 seconds ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_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 + 14.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 15.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 15.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.68sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2260 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×4 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845555 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845555 ms (missed cycles : 2).[0m ×2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 1 iterations (0.00287702 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.72sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.74sINFOros2_control_node[2026-09-04 19:25:30.603] [info] Received new action goal ×2 + 8.74sINFOros2_control_node[2026-09-04 19:25:30.603] [info] Accepted new action goal ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232570 ms (missed cycles : 4). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232570 ms (missed cycles : 4).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389970 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389970 ms (missed cycles : 4).[0m ×2 + 11.04sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 12.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.81sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 13.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 14.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 16.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.85sINFOros2_control_node[2026-09-04 19:22:39.320] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 19:22:39.320] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816916 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816916 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300950 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300950 ms (missed cycles : 4).[0m ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 9.19sINFOros2_control_node[2026-09-04 19:22:41.667] [info] Received new action goal ×2 + 9.19sINFOros2_control_node[2026-09-04 19:22:41.667] [info] Accepted new action goal ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.423578 ms (missed cycles : 8). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.423578 ms (missed cycles : 8).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 10.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.54sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 11.54sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 13.57sINFOobjective_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 + 13.57sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 13.57sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 13.59sERRORobjective_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: 1788549766.05882573 seconds ×3 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 14.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.43sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 16.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.64sERRORobjective_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: 1788549968.55428314 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.23sINFOobjective_server_nodecaller: ×14 + 2.23sINFOobjective_server_nodetype: 0 ×14 + 2.23sINFOobjective_server_nodename: "" ×14 + 2.23sINFOobjective_server_nodeinstance_id: "" ×14 + 2.23sINFOobjective_server_node ×14 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.01sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.01sINFOros2_control_node[2026-09-04 19:26:13.932] [info] Received new action goal ×2 + 7.01sINFOros2_control_node[2026-09-04 19:26:13.932] [info] Accepted new action goal ×2 + 7.01sINFOros2_control_node[2026-09-04 19:26:13.932] [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 3.634287 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634287 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044819 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044819 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756995 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756995 ms (missed cycles : 3).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2).[0m ×2 + 11.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 13.71sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 13.71sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 13.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549980.63296652 seconds ×3 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 15.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.35sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.40sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 15.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 16.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209121 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209121 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_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 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549947.04935384 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788549947.65072322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818334 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818334 ms (missed cycles : 2).[0m ×2 + 8.21sINFOros2_control_node[2026-09-04 19:25:52.018] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-09-04 19:25:52.018] [info] Accepted new action goal ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223148 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223148 ms (missed cycles : 2).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691410 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691410 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6).[0m ×2 + 11.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3).[0m ×2 + 13.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788549957.60313988 seconds ×3 + 14.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.39sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788549958.25401926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 14.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.58sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4).[0m ×2 + 16.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.2s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1788549743.54486799 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.23sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.23sINFOobjective_server_nodecaller: ×8 + 2.23sINFOobjective_server_nodetype: 0 ×8 + 2.23sINFOobjective_server_nodename: "" ×8 + 2.23sINFOobjective_server_nodeinstance_id: "" ×8 + 2.23sINFOobjective_server_node ×8 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 3.41sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 6.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.93sINFOobjective_server_nodeFound path in 1 iterations (0.00268643 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.18sINFOros2_control_node[2026-09-04 19:22:29.126] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-09-04 19:22:29.126] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474001 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474001 ms (missed cycles : 3).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278535 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278535 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150253 ms (missed cycles : 5). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150253 ms (missed cycles : 5).[0m ×2 + 9.48sINFOros2_control_node[2026-09-04 19:22:31.429] [info] Received new action goal ×2 + 9.48sINFOros2_control_node[2026-09-04 19:22:31.429] [info] Accepted new action goal ×2 + 9.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 11.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.26sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 12.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 13.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.08sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.90sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.02sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[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 3.149263 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549800.21310782 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.52sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.52sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549800.87994957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549800.95018554 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 3.18sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.35sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5).[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.93sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.08sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.41sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 35 warnings · 637 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.03sINFOforce_torque_sensor_broadcasterconfigure successful + 0.03sINFOros2_control_nodeconfigure successful[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOcomponent_container_mt[2026-09-04 19:21:54.389] [moveit_pro_license] [info] ×2 + 0.20sINFOcomponent_container_mt************************************************* ×4 + 0.20sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.20sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870936 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870936 ms (missed cycles : 2).[0m ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.33sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.33sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7322] ×2 + 0.38sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_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 + 0.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.39sWARNros2_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 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.49sWARNobjective_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 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.69sINFOros2-3process has finished cleanly [pid 7323] ×2 + 0.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.84sINFOros2_control_node[2026-09-04 19:21:55.034] [info] Controller state will be published at 20 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-04 19:21:55.035] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 1.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 1.18sINFOros2-8process has finished cleanly [pid 7339] ×2 + 1.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.20sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843035 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843035 ms (missed cycles : 2).[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.52sINFOros2-5process has finished cleanly [pid 7336] ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 1.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 1.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.61sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 1.64sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 1.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 1.97sINFOros2-7process has finished cleanly [pid 7338] ×2 + 1.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.98sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.98sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.99sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.30sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.32sINFOros2-4process has finished cleanly [pid 7335] ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 2.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 2.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.41sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.43sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.43sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 2.44sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.77sINFOobjective_server_nodecaller: ×14 + 2.77sINFOobjective_server_nodetype: 0 ×14 + 2.77sINFOobjective_server_nodename: "" ×14 + 2.77sINFOobjective_server_nodeinstance_id: "" ×14 + 2.77sINFOobjective_server_node ×14 + 2.79sINFOros2-6process has finished cleanly [pid 7337] ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 6.36sWARNros2_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 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 7.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 7.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.87sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.08sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1788549980.63296652 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.70sINFOobjective_server_nodecaller: ×8 + 3.70sINFOobjective_server_nodetype: 0 ×8 + 3.70sINFOobjective_server_nodename: "" ×8 + 3.70sINFOobjective_server_nodeinstance_id: "" ×8 + 3.70sINFOobjective_server_node ×8 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 + 6.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788549984.76832104 seconds ×3 + 7.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3). | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 28 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181042 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181042 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549800.21310782 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549800.87994957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549800.95018554 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 4.24sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 7.23sWARNros2_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 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 1.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 1.03sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 1.03sERRORobjective_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: 1788549980.63296652 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.58sINFOobjective_server_nodecaller: ×8 + 1.58sINFOobjective_server_nodetype: 0 ×8 + 1.58sINFOobjective_server_nodename: "" ×8 + 1.58sINFOobjective_server_nodeinstance_id: "" ×8 + 1.58sINFOobjective_server_node ×8 + 1.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.72sINFOobjective_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 + 2.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 + 4.79sWARNros2_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 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788549984.76832104 seconds ×3 + 5.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363233 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363233 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 2.677819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150253 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150253 ms (missed cycles : 5).[0m ×2 + 0.03sINFOros2_control_node[2026-09-04 19:22:31.429] [info] Received new action goal ×2 + 0.03sINFOros2_control_node[2026-09-04 19:22:31.429] [info] Accepted new action goal ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.45sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.57sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sERRORobjective_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: 1788549743.54486799 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 485 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7338] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.83sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.18sINFOros2-6process has finished cleanly [pid 7337] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2).[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 2.188188 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 2.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1788549980.63296652 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.69sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.69sINFOobjective_server_nodecaller: ×8 + 2.69sINFOobjective_server_nodetype: 0 ×8 + 2.69sINFOobjective_server_nodename: "" ×8 + 2.69sINFOobjective_server_nodeinstance_id: "" ×8 + 2.69sINFOobjective_server_node ×8 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 + 5.91sWARNros2_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 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788549984.76832104 seconds ×3 + 6.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725690 ms (missed cycles : 3). | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 25 warnings · 2150 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 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 (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sERRORobjective_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: 1788549743.54486799 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902111 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_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 + 2.61sERRORobjective_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: 1788549743.54486799 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1788549743.54486799 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 3.41sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[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 1.667336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1788549743.54486799 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 3.41sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[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 1.667336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1788549743.54486799 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 3.41sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[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 1.667336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667336 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001804 ms (missed cycles : 2).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1788549743.54486799 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738968 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.23sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.23sINFOobjective_server_nodecaller: ×4 + 2.23sINFOobjective_server_nodetype: 0 ×4 + 2.23sINFOobjective_server_nodename: "" ×4 + 2.23sINFOobjective_server_nodeinstance_id: "" ×4 + 2.23sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549744.22727680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549744.31739879 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549744.95658588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659635 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 19:22:25.150] [info] Accepted new action goal ×2 + 3.41sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066452 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079113 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325294 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 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 (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 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 (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 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 (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029856 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-09-04 19:22:33.210] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576125 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549754.49674821 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491443 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549755.10804963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549755.19818377 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570267 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549755.84562826 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 (2.71e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 19:22:35.970] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.075828 ms (missed cycles : 6).[0m ×2 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972880 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351960 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987828 ms (missed cycles : 5).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-04 19:22:44.017] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830597 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597915 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-04 19:22:46.046] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1788549766.05882573 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549766.69336581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067859 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.907] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 19:22:46.908] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695599 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370840 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112084 ms (missed cycles : 5).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.37sINFOobjective_server_nodeFound path in 1 iterations (0.00330018 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.61sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 19:23:05.810] [info] Accepted new action goal ×2 + 1.01sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-04 19:23:06.212] [info] Accepted new action goal ×2 + 1.23sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056839 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255924 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1788549788.16864681 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227023 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549788.96508527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:23:09.159] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024854 ms (missed cycles : 3).[0m ×2 + 6.46sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-04 19:23:11.655] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163889 ms (missed cycles : 4).[0m ×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 5.181042 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181042 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149263 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380179 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549800.21310782 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947525 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549800.87994957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549800.95018554 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 4.24sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 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: ""
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4). + 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 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235311 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549801.54503441 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 (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:23:21.670] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824342 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534890 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549803.67519283 seconds ×3 + 2.98sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225572 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 + 3.22sINFOros2_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549805.31050873 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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482123 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:23:25.727] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464224 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857385 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116510 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295754 ms (missed cycles : 4).[0m ×2 + 2.13sWARNros2_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 + 2.31sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788549858.58774734 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_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: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788549859.19525647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.08sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-04 19:24:19.359] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338968 ms (missed cycles : 4).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862017 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_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 + 4.36sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957087 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 25 warnings · 2150 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 25 warnings · 2150 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 25 warnings · 2150 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 25 warnings · 2150 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699716 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305286 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724083 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788549925.13943028 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385094 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788549925.85365367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:26.057] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948984 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307217 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770330 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:32.905] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074028 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 19:25:34.667] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369711 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788549935.95381832 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684339 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788549936.71892977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 19:25:36.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286019 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888206 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488269 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 6.209121 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209121 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760311 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583187 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_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 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549947.04935384 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287172 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788549947.65072322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:25:48.000] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919378 ms (missed cycles : 2).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769355 ms (missed cycles : 6).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405304 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319015 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042545 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630665 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788549957.60313988 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! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_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 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×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 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562278 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788549958.25401926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-04 19:25:58.388] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021963 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798170 ms (missed cycles : 3).[0m ×2 + 5.66sWARNros2_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 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.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 2.677819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_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 2.677819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.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 2.677819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_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 2.677819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677819 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_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 2.127590 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[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 7.168842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2).[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 7.168842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2).[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 7.168842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168842 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030783 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549968.55428314 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127590 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788549969.19507790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788549969.26520109 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788549969.85561466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788549969.88789821 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200904 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788549970.48839426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 19:26:10.612] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103927 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086093 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692751 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1788549980.63296652 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.70sINFOobjective_server_nodecaller: ×8 + 3.70sINFOobjective_server_nodetype: 0 ×8 + 3.70sINFOobjective_server_nodename: "" ×8 + 3.70sINFOobjective_server_nodeinstance_id: "" ×8 + 3.70sINFOobjective_server_node ×8 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042242 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188188 ms (missed cycles : 2).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295402 ms (missed cycles : 5).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-04 19:26:20.628] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1788549980.63296652 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892109 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.70sINFOobjective_server_nodecaller: ×8 + 3.70sINFOobjective_server_nodetype: 0 ×8 + 3.70sINFOobjective_server_nodename: "" ×8 + 3.70sINFOobjective_server_nodeinstance_id: "" ×8 + 3.70sINFOobjective_server_node ×8 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788549981.23084021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747911 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788549981.73096180 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788549982.31950855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788549982.32144809 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736061 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788549982.91159630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788549982.91239238 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788549983.63819337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414409 ms (missed cycles : 4).[0m ×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 · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.5s | 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/2026-09-04-19-21-49-523445-cd1138513710-7273 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309493 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7321] ×2 + 0.87sINFOmove_group-9process started with pid [7362] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7363] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7364] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7365] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7366] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7367] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7368] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7369] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7370] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7371] ×2 + 0.88sINFOweb_bridge-19process started with pid [7372] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7448] ×2 + 0.88sINFOvideo_server-21process started with pid [7449] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7450] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7451] ×2 + 0.88sINFOros2-2process started with pid [7322] ×2 + 0.88sINFOros2-3process started with pid [7323] ×2 + 0.88sINFOros2-4process started with pid [7335] ×2 + 0.88sINFOros2-5process started with pid [7336] ×2 + 0.88sINFOros2-6process started with pid [7337] ×2 + 0.88sINFOros2-7process started with pid [7338] ×2 + 0.88sINFOros2-8process started with pid [7339] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309493 ms (missed cycles : 3).[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF configuration loaded from /tmp/moveit-webrtc-xjth537f/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOcontroller_managerReceived robot description from topic. + 1.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.20sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.22sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.22sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.43sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670091 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670091 ms (missed cycles : 2).[0m ×2 + 1.99sINFOmove_group[2026-09-04 19:21:51.898] [moveit_pro_license] [info] ×2 + 1.99sINFOmove_group************************************************* ×4 + 1.99sINFOmove_group* MoveIt Pro License ×2 + 1.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.16sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.18sINFOros2_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 + 2.18sINFOros2_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 + 2.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.25sINFOwaypoint_manager_node[2026-09-04 19:21:52.156] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.42sINFOmove_group ×4 + 2.42sINFOmove_group[92mYou can start planning now![0m ×2 + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.01sINFOobjective_server_node[2026-09-04 19:21:53.911] [moveit_pro_license] [info] ×2 + 4.01sINFOobjective_server_node************************************************* ×4 + 4.01sINFOobjective_server_node* MoveIt Pro License ×2 + 4.01sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.12sINFOobjective_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 + 4.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.13sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.13sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.14sWARNros2_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 + 4.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.14sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.14sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.14sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.14sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.14sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 4.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 4.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.31sINFOforce_torque_sensor_broadcasterconfigure successful + 4.31sINFOros2_control_nodeconfigure successful[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.32sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.48sINFOcomponent_container_mt[2026-09-04 19:21:54.389] [moveit_pro_license] [info] ×2 + 4.48sINFOcomponent_container_mt************************************************* ×4 + 4.48sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.48sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870936 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870936 ms (missed cycles : 2).[0m ×2 + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.60sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.60sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.62sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.62sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.62sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.62sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 4.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 4.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.65sINFOros2-2process has finished cleanly [pid 7322] ×2 + 4.67sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.67sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.67sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.67sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.67sINFOros2_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 + 4.67sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.67sWARNros2_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 + 4.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.68sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.68sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.78sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.96sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.96sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.98sINFOros2-3process has finished cleanly [pid 7323] ×2 + 5.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 5.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 5.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.13sINFOros2_control_node[2026-09-04 19:21:55.034] [info] Controller state will be published at 20 Hz. ×2 + 5.13sINFOros2_control_node[2026-09-04 19:21:55.035] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 5.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 5.46sINFOros2-8process has finished cleanly [pid 7339] ×2 + 5.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843035 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843035 ms (missed cycles : 2).[0m ×2 + 5.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.80sINFOros2-5process has finished cleanly [pid 7336] ×2 + 5.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 5.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 5.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.93sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 5.93sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.23sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.23sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.23sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.24sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 6.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 6.26sINFOros2-7process has finished cleanly [pid 7338] ×2 + 6.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.59sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.59sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.59sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.61sINFOros2-4process has finished cleanly [pid 7335] ×2 + 6.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 6.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 6.69sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.69sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.69sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.69sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.72sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.72sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 6.72sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 7.06sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 7.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 7.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 7.06sINFOobjective_server_nodecaller: ×10 + 7.06sINFOobjective_server_nodetype: 0 ×10 + 7.06sINFOobjective_server_nodename: "" ×10 + 7.06sINFOobjective_server_nodeinstance_id: "" ×10 + 7.06sINFOobjective_server_node ×10 + 7.07sINFOros2-6process has finished cleanly [pid 7337] ×2 + 7.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 7.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.66sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.16sWARNros2_control_nodeCamera render tick took 1.88 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 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 9.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.38sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 9.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 10.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 10.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 10.65sWARNros2_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 + 10.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.26sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.26sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.26sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.26sINFOobjective_server_nodecaller: ×12 + 0.26sINFOobjective_server_nodetype: 0 ×12 + 0.26sINFOobjective_server_nodename: "" ×12 + 0.26sINFOobjective_server_nodeinstance_id: "" ×12 + 0.26sINFOobjective_server_node ×12 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 7.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.49sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 7.49sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 414 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.49sINFOros2-6process has finished cleanly [pid 7337] ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNros2_control_nodeCamera render tick took 1.88 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 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 7.57sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 149 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/2026-09-04-19-21-49-523445-cd1138513710-7273 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309493 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7321] ×2 + 0.87sINFOmove_group-9process started with pid [7362] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7363] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7364] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7365] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7366] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7367] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7368] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7369] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7370] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7371] ×2 + 0.88sINFOweb_bridge-19process started with pid [7372] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7448] ×2 + 0.88sINFOvideo_server-21process started with pid [7449] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7450] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7451] ×2 + 0.88sINFOros2-2process started with pid [7322] ×2 + 0.88sINFOros2-3process started with pid [7323] ×2 + 0.88sINFOros2-4process started with pid [7335] ×2 + 0.88sINFOros2-5process started with pid [7336] ×2 + 0.88sINFOros2-6process started with pid [7337] ×2 + 0.88sINFOros2-7process started with pid [7338] ×2 + 0.88sINFOros2-8process started with pid [7339] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309493 ms (missed cycles : 3).[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF configuration loaded from /tmp/moveit-webrtc-xjth537f/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/04 19:21:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOcontroller_managerReceived robot description from topic. + 1.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.20sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.22sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.22sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.43sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670091 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670091 ms (missed cycles : 2).[0m ×2 + 1.99sINFOmove_group[2026-09-04 19:21:51.898] [moveit_pro_license] [info] ×2 + 1.99sINFOmove_group************************************************* ×4 + 1.99sINFOmove_group* MoveIt Pro License ×2 + 1.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.16sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.18sINFOros2_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 + 2.18sINFOros2_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 + 2.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.25sINFOwaypoint_manager_node[2026-09-04 19:21:52.156] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.42sINFOmove_group ×4 + 2.42sINFOmove_group[92mYou can start planning now![0m ×2 + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 485 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7338] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.83sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.18sINFOros2-6process has finished cleanly [pid 7337] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 485 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7338] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.83sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.18sINFOros2-6process has finished cleanly [pid 7337] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 485 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.831] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-04 19:21:55.832] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7338] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.82sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.83sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.18sINFOros2-6process has finished cleanly [pid 7337] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 412 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7335] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3uy7yl1u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gzlniiba --params-file /tmp/launch_params_38z571m3 [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-04 19:21:56.600] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 19:21:56.624] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-09-04 19:21:56.624] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-04 19:21:56.629] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.47sINFOobjective_server_nodecaller: ×14 + 0.47sINFOobjective_server_nodetype: 0 ×14 + 0.47sINFOobjective_server_nodename: "" ×14 + 0.47sINFOobjective_server_nodeinstance_id: "" ×14 + 0.47sINFOobjective_server_node ×14 + 0.49sINFOros2-6process has finished cleanly [pid 7337] ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549717.01572347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549717.02595615 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNros2_control_nodeCamera render tick took 1.88 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 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 4.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.78sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642597 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.26sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.26sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.26sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.26sINFOobjective_server_nodecaller: ×12 + 0.26sINFOobjective_server_nodetype: 0 ×12 + 0.26sINFOobjective_server_nodename: "" ×12 + 0.26sINFOobjective_server_nodeinstance_id: "" ×12 + 0.26sINFOobjective_server_node ×12 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549717.61156154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_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 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717156 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549718.72176385 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243472 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549719.34050369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549719.40069222 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549720.05438566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549720.06449437 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149240 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549720.65315247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549720.80371809 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549721.48274922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673687 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549721.52287006 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549722.13584828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.4973e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 19:22:02.272] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805366 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509635 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-04 19:22:04.790] [info] Accepted new action goal ×2 | ||||