122
Total objective tests
32
Objectives passed
0
Objectives failed
90
Objectives skipped
9.0s
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 | 163 warnings · 19884 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788552960.01903391 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_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: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788552960.61551237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.12sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_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 + 4.40sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.10sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028819 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028819 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal ×3270 + 6.56sINFOjoint_trajectory_controllerAccepted new action goal ×3270 + 6.56sINFOros2_control_nodeReceived new action goal[0m ×6540 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×6540 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817237 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817237 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316182 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316182 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081565 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081565 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355462 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355462 ms (missed cycles : 4).[0m ×2 + 11.25sWARNros2_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 ×6 + 11.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.46sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.46sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.46sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660432 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660432 ms (missed cycles : 2).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367572 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367572 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735037 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735037 ms (missed cycles : 2).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258303 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258303 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742221 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742221 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009257 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009257 ms (missed cycles : 4).[0m ×2 + 17.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870105 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870105 ms (missed cycles : 2).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081809 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081809 ms (missed cycles : 2).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184668 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184668 ms (missed cycles : 2).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778366 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778366 ms (missed cycles : 2).[0m ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715166 ms (missed cycles : 2). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715166 ms (missed cycles : 2).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912029 ms (missed cycles : 5). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912029 ms (missed cycles : 5).[0m ×2 + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740683 ms (missed cycles : 2). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740683 ms (missed cycles : 2).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376574 ms (missed cycles : 4). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376574 ms (missed cycles : 4).[0m ×2 + 25.25sWARNros2_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 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2).[0m ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878537 ms (missed cycles : 2). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878537 ms (missed cycles : 2).[0m ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677823 ms (missed cycles : 2). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677823 ms (missed cycles : 2).[0m ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680148 ms (missed cycles : 5). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680148 ms (missed cycles : 5).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181248 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181248 ms (missed cycles : 2).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582718 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582718 ms (missed cycles : 3).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536752 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536752 ms (missed cycles : 3).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848248 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848248 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751550 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751550 ms (missed cycles : 2).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814378 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814378 ms (missed cycles : 2).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731087 ms (missed cycles : 2). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731087 ms (missed cycles : 2).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548460 ms (missed cycles : 2). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548460 ms (missed cycles : 2).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009094 ms (missed cycles : 2). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009094 ms (missed cycles : 2).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673847 ms (missed cycles : 2). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673847 ms (missed cycles : 2).[0m ×2 + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819135 ms (missed cycles : 2). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819135 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720723 ms (missed cycles : 2). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720723 ms (missed cycles : 2).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762587 ms (missed cycles : 2). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762587 ms (missed cycles : 2).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005745 ms (missed cycles : 2). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005745 ms (missed cycles : 2).[0m ×2 + 44.39sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974800 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974800 ms (missed cycles : 2).[0m ×2 + 45.27sWARNros2_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 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838193 ms (missed cycles : 3). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838193 ms (missed cycles : 3).[0m ×2 + 46.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553004.41654754 seconds ×3 + 46.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983467 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983467 ms (missed cycles : 2).[0m ×2 + 47.30sINFOobjective_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: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788553005.08523750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.47sINFOobjective_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 + 47.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.56sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 47.57sINFOros2_control_node[2026-09-04 20:16:45.238] [info] Received new action goal ×2 + 47.57sINFOros2_control_node[2026-09-04 20:16:45.238] [info] Accepted new action goal ×2 + 48.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281341 ms (missed cycles : 4). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281341 ms (missed cycles : 4).[0m ×2 + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442933 ms (missed cycles : 2). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442933 ms (missed cycles : 2).[0m ×2 + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137583 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137583 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-04 20:15:10.019] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-04 20:15:10.019] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.110831 ms (missed cycles : 5). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.110831 ms (missed cycles : 5).[0m ×2 + 7.69sWARNros2_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 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650516 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650516 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760177 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760177 ms (missed cycles : 3).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749149 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749149 ms (missed cycles : 3).[0m ×2 + 10.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.40sINFOros2_control_node[2026-09-04 20:15:13.339] [info] Received new action goal ×2 + 10.40sINFOros2_control_node[2026-09-04 20:15:13.339] [info] Accepted new action goal ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169505 ms (missed cycles : 4). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169505 ms (missed cycles : 4).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537560 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537560 ms (missed cycles : 3).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.41sINFOros2_control_node[2026-09-04 20:15:16.351] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-04 20:15:16.351] [info] Accepted new action goal ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504401 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504401 ms (missed cycles : 3).[0m ×2 + 13.60sWARNros2_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 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255959 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255959 ms (missed cycles : 3).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778539 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778539 ms (missed cycles : 2).[0m ×2 + 16.37sINFOobjective_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 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.38sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699828 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699828 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076602 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076602 ms (missed cycles : 2).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311444 ms (missed cycles : 5). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311444 ms (missed cycles : 5).[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791672 ms (missed cycles : 4). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791672 ms (missed cycles : 4).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790014 ms (missed cycles : 5). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790014 ms (missed cycles : 5).[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696547 ms (missed cycles : 2). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696547 ms (missed cycles : 2).[0m ×2 + 23.13sINFOobjective_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 + 23.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370781 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370781 ms (missed cycles : 2).[0m ×2 + 24.01sINFOros2_control_node[2026-09-04 20:15:26.957] [info] Received new action goal ×2 + 24.01sINFOros2_control_node[2026-09-04 20:15:26.957] [info] Accepted new action goal ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335394 ms (missed cycles : 4). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335394 ms (missed cycles : 4).[0m ×2 + 25.18sINFOobjective_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 + 25.19sINFOobjective_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 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616540 ms (missed cycles : 3). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616540 ms (missed cycles : 3).[0m ×2 + 25.47sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 25.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.51sINFOros2_control_node[2026-09-04 20:15:28.450] [info] Received new action goal ×2 + 25.51sINFOros2_control_node[2026-09-04 20:15:28.450] [info] Accepted new action goal ×2 + 25.66sWARNros2_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 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541033 ms (missed cycles : 5). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541033 ms (missed cycles : 5).[0m ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445696 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445696 ms (missed cycles : 3).[0m ×2 + 27.62sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 27.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.64sINFOros2_control_node[2026-09-04 20:15:30.578] [info] Received new action goal ×2 + 27.64sINFOros2_control_node[2026-09-04 20:15:30.578] [info] Accepted new action goal ×2 + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753915 ms (missed cycles : 2). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753915 ms (missed cycles : 2).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037507 ms (missed cycles : 4). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037507 ms (missed cycles : 4).[0m ×2 + 30.78sINFOros2_control_node[2026-09-04 20:15:33.719] [info] Received new action goal ×2 + 30.78sINFOros2_control_node[2026-09-04 20:15:33.719] [info] Accepted new action goal ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884213 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884213 ms (missed cycles : 2).[0m ×2 + 31.67sWARNros2_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 ×4 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052518 ms (missed cycles : 6). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052518 ms (missed cycles : 6).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460997 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460997 ms (missed cycles : 2).[0m ×2 + 33.37sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 33.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.44sINFOros2_control_node[2026-09-04 20:15:36.381] [info] Received new action goal ×2 + 33.44sINFOros2_control_node[2026-09-04 20:15:36.381] [info] Accepted new action goal ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642011 ms (missed cycles : 5). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642011 ms (missed cycles : 5).[0m ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183723 ms (missed cycles : 3). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183723 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281651 ms (missed cycles : 2). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281651 ms (missed cycles : 2).[0m ×2 + 37.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158271 ms (missed cycles : 2). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158271 ms (missed cycles : 2).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444533 ms (missed cycles : 3). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444533 ms (missed cycles : 3).[0m ×2 + 39.11sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833943 ms (missed cycles : 5). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833943 ms (missed cycles : 5).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404449 ms (missed cycles : 2). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404449 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428893 ms (missed cycles : 5). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428893 ms (missed cycles : 5).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047367 ms (missed cycles : 5). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047367 ms (missed cycles : 5).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442575 ms (missed cycles : 2). + 43.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442575 ms (missed cycles : 2).[0m ×2 + 44.13sINFOros2_control_node[2026-09-04 20:15:47.077] [info] Received new action goal ×2 + 44.13sINFOros2_control_node[2026-09-04 20:15:47.077] [info] Accepted new action goal ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627256 ms (missed cycles : 3). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627256 ms (missed cycles : 3).[0m ×2 + 45.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788552948.23415804 seconds ×3 + 45.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.88sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.07sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788552949.00888610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140945 ms (missed cycles : 5). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140945 ms (missed cycles : 5).[0m ×2 + 47.32sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390650 ms (missed cycles : 4). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390650 ms (missed cycles : 4).[0m ×2 + 47.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.35sINFOros2_control_node[2026-09-04 20:15:50.293] [info] Received new action goal ×2 + 47.35sINFOros2_control_node[2026-09-04 20:15:50.293] [info] Accepted new action goal ×2 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501799 ms (missed cycles : 5). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501799 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13692 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2249 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2249 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4498 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4498 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005745 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005745 ms (missed cycles : 2).[0m ×2 + 0.90sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974800 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974800 ms (missed cycles : 2).[0m ×2 + 1.78sWARNros2_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 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838193 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838193 ms (missed cycles : 3).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553004.41654754 seconds ×3 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983467 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983467 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788553005.08523750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.08sINFOros2_control_node[2026-09-04 20:16:45.238] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 20:16:45.238] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281341 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281341 ms (missed cycles : 4).[0m ×2 + 5.32sINFOobjective_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 + 5.40sINFOobjective_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442933 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442933 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137583 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137583 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004342 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004342 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807186 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807186 ms (missed cycles : 2).[0m ×2 + 8.96sWARNros2_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 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972391 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972391 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208552 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208552 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701085 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701085 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.948739 ms (missed cycles : 8). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.948739 ms (missed cycles : 8).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893510 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893510 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231602 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231602 ms (missed cycles : 2).[0m ×2 + 15.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895386 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895386 ms (missed cycles : 2).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212974 ms (missed cycles : 6). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212974 ms (missed cycles : 6).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861253 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861253 ms (missed cycles : 2).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364197 ms (missed cycles : 3). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364197 ms (missed cycles : 3).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368783 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368783 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976492 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976492 ms (missed cycles : 3).[0m ×2 + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 22.74sWARNros2_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 1.710514 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 25.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[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 + 26.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 26.30sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.32sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.7s | 3 errors · 60 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1788552841.73419642 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.53sINFOobjective_server_nodecaller: ×8 + 2.53sINFOobjective_server_nodetype: 0 ×8 + 2.53sINFOobjective_server_nodename: "" ×8 + 2.53sINFOobjective_server_nodeinstance_id: "" ×8 + 2.53sINFOobjective_server_node ×8 + 2.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193939 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193939 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437634 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437634 ms (missed cycles : 3).[0m ×2 + 9.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.83sINFOobjective_server_nodeFound path in 1 iterations (0.00286811 s). ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496353 ms (missed cycles : 4). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496353 ms (missed cycles : 4).[0m ×2 + 9.94sWARNros2_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 + 9.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 10.08sINFOros2_control_node[2026-09-04 20:14:09.915] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-09-04 20:14:09.916] [info] Accepted new action goal ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302541 ms (missed cycles : 5). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302541 ms (missed cycles : 5).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161831 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161831 ms (missed cycles : 5).[0m ×2 + 12.38sINFOros2_control_node[2026-09-04 20:14:12.218] [info] Received new action goal ×2 + 12.38sINFOros2_control_node[2026-09-04 20:14:12.218] [info] Accepted new action goal ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 14.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 14.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 15.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 16.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 16.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.89sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 16.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.91sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.4s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.05sINFOobjective_server_nodeFound path in 1 iterations (0.00333889 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.30sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Accepted new action goal ×2 + 1.70sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.15sERRORobjective_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: 1788552889.27253914 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.82sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.82sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788552890.05462718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3).[0m ×2 + 5.60sWARNros2_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 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2).[0m ×2 + 6.98sINFOros2_control_node[2026-09-04 20:14:53.104] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-04 20:14:53.104] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497987 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497987 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330232 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330232 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507058 ms (missed cycles : 4). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507058 ms (missed cycles : 4).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.024700 ms (missed cycles : 7). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.024700 ms (missed cycles : 7).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149853 ms (missed cycles : 4). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149853 ms (missed cycles : 4).[0m ×2 + 11.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788552901.67639589 seconds ×3 + 16.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.17sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3).[0m ×2 + 16.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788552902.34283996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788552902.40298486 seconds ×3 + 16.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.82sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.87sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.00sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 17.80sWARNros2_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 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 19.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 59 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 20:18:02.200] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-04 20:18:02.200] [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: 1788553082.20442557 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_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: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 1.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788553085.98354816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788553087.15380335 seconds ×3 + 5.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654333 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654333 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869339 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869339 ms (missed cycles : 3).[0m ×2 + 7.57sWARNros2_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 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779052 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779052 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694055 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694055 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905450 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905450 ms (missed cycles : 2).[0m ×2 + 11.17sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.19sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.19sERRORweb_video_auth_proxy-23process has died [pid 7477, 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 + 11.19sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.19sERRORweb_bridge_auth_proxy-22process has died [pid 7476, 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 + 11.19sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.20sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.20sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.20sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.21sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.21sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.21sINFOvideo_server-21process has finished cleanly [pid 7475] ×2 + 11.22sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.22sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.22sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.23sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.23sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.24sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.25sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.25sINFOcontroller_managerShutdown request received.... + 11.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.25sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.25sINFOvideo_server2026/09/04 20:18:13 INF shutting down gracefully ×2 + 11.25sINFOvideo_server2026/09/04 20:18:13 INF [WebRTC] closing ×2 + 11.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.25sINFOvideo_server2026/09/04 20:18:13 INF [RTSP] closing ×2 + 11.25sINFOvideo_server2026/09/04 20:18:13 INF waiting for running hooks ×2 + 11.25sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.25sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.25sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.25sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.25sINFOcontroller_managerShutting down the controller manager. + 11.25sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.25sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.25sERRORmove_groupStack trace (most recent call last) in thread 7825: ×2 + 11.25sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.25sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.25sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.26sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.26sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.26sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.26sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.26sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.26sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe701bb8a63, in __clone ×2 + 11.26sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe701b2baa3, in ×2 + 11.26sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.26sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe701dbddb3, in ×2 + 11.26sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fe702522a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.26sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe70214f620, in rclcpp::Rate::sleep() ×2 + 11.26sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe702091d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.26sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe702053087, in ×2 + 11.26sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe701d8c390, in __cxa_throw ×2 + 11.26sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe701d76a54, in std::terminate() ×2 + 11.26sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe701d8c0d9, in ×2 + 11.26sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe701d76ff4, in ×2 + 11.26sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe701ab78fe, in abort ×2 + 11.26sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe701ad427d, in raise ×2 + 11.26sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe701b2db2c, in pthread_kill ×2 + 11.26sERRORmove_groupAborted (Signal sent by tkill() 7398 0) ×2 + 11.27sERRORmove_group-9process has died [pid 7398, 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_jogpkzm9 --params-file /tmp/launch_params_ke5uubdi --params-file /tmp/launch_params_qg4ra3iz --params-file /tmp/launch_params_m5sx5x79 --params-file /tmp/launch_params_ohhmvpai --params-file /tmp/launch_params_49im7rpi']. ×2 + 11.46sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.46sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.46sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.24sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7474] ×2 + 12.24sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.27sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7402] ×2 + 12.27sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7401] ×2 + 12.31sINFOwaypoint_manager_node-11process has finished cleanly [pid 7400] ×2 + 12.31sINFOcomponent_container_mt-16process has finished cleanly [pid 7405] ×2 + 12.31sINFOparameter_manager_node-10process has finished cleanly [pid 7399] ×2 + 12.31sINFOexecute_objective_bridge-17process has finished cleanly [pid 7406] ×2 + 12.32sINFOui_teleop_bridge-18process has finished cleanly [pid 7407] ×2 + 12.38sINFOobjective_server_node[0;m[2026-09-04 20:18:14.578] [moveit_pro_license] [critical] ×2 + 12.38sINFOobjective_server_node************************************************* ×4 + 12.38sINFOobjective_server_node* MoveIt Pro License ×2 + 12.38sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.51sINFOobjective_server_node_main-14process has finished cleanly [pid 7403] ×2 + 12.51sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.41sINFOcomponent_container_mt-15process has finished cleanly [pid 7404] ×2 + 13.68sINFOweb_bridge-19process has finished cleanly [pid 7408] ×2 + 13.68sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.89sINFOros2_control_node-1process has finished cleanly [pid 7347] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 59 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047367 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047367 ms (missed cycles : 5).[0m ×2 + 0.41sINFOobjective_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 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.41sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.41sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.41sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.41sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442575 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442575 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.29sINFOros2_control_node[2026-09-04 20:15:47.077] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-09-04 20:15:47.077] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627256 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627256 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788552948.23415804 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788552949.00888610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140945 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140945 ms (missed cycles : 5).[0m ×2 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390650 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390650 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.50sINFOros2_control_node[2026-09-04 20:15:50.293] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-09-04 20:15:50.293] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501799 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501799 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561066 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561066 ms (missed cycles : 4).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449911 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449911 ms (missed cycles : 2).[0m ×2 + 8.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.20sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.20sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.20sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.20sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497362 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497362 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524636 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524636 ms (missed cycles : 5).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.62sINFOros2_control_node[2026-09-04 20:15:56.413] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-09-04 20:15:56.413] [info] Accepted new action goal ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154351 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154351 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2).[0m ×2 + 11.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788552960.01903391 seconds ×3 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788552960.61551237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 14.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.00sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3).[0m ×2 + 16.27sINFOobjective_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 + 16.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4).[0m ×2 + 16.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.97sWARNros2_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 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3).[0m ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.25sINFOros2_control_node[2026-09-04 20:14:20.097] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-09-04 20:14:20.097] [info] Accepted new action goal ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367712 ms (missed cycles : 4). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367712 ms (missed cycles : 4).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778898 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778898 ms (missed cycles : 2).[0m ×2 + 8.93sWARNros2_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 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 9.60sINFOros2_control_node[2026-09-04 20:14:22.445] [info] Received new action goal ×2 + 9.60sINFOros2_control_node[2026-09-04 20:14:22.445] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511120 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511120 ms (missed cycles : 4).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395490 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395490 ms (missed cycles : 3).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 11.96sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 11.96sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 14.30sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 14.38sINFOobjective_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 + 14.38sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 14.38sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 14.38sERRORobjective_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: 1788552867.22662044 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.98sWARNros2_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 + 15.02sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.23sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.2s | 9 errors · 57 warnings · 208 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012086 ms (missed cycles : 5). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012086 ms (missed cycles : 5).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_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: 1788552875.94493198 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828292 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828292 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575531 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575531 ms (missed cycles : 2).[0m ×2 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788552878.74885011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.31sINFOros2_control_node[2026-09-04 20:14:38.952] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-04 20:14:38.952] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686704 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686704 ms (missed cycles : 5).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224656 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224656 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942662 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942662 ms (missed cycles : 2).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750022 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750022 ms (missed cycles : 2).[0m ×2 + 7.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.00380325 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 2 iterations (0.00779688 s). ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959713 ms (missed cycles : 5). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959713 ms (missed cycles : 5).[0m ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 1 iterations (0.00488669 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.85sINFOros2_control_node[2026-09-04 20:14:44.496] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-09-04 20:14:44.496] [info] Accepted new action goal ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088499 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088499 ms (missed cycles : 4).[0m ×2 + 10.03sWARNros2_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 ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2).[0m ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2).[0m ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.53sINFOobjective_server_nodeFound path in 1 iterations (0.00333889 s). ×2 + 11.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.78sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Accepted new action goal ×2 + 12.18sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Accepted new action goal ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4).[0m ×2 + 13.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.58sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.58sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.58sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.63sERRORobjective_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: 1788552889.27253914 seconds ×3 + 14.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.30sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788552890.05462718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6).[0m ×2 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 14.63sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3).[0m ×2 + 16.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322666 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821668 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821668 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532680 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532680 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.36sINFOros2_control_node[2026-09-04 20:13:50.255] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-09-04 20:13:50.255] [info] Accepted new action goal ×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: ``}. ×6 + 2.74sINFOros2_control_node[2026-09-04 20:13:50.630] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-04 20:13:50.630] [info] Canceling active goal... ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788552830.64666414 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.29sINFOobjective_server_nodecaller: ×6 + 3.29sINFOobjective_server_nodetype: 0 ×6 + 3.29sINFOobjective_server_nodename: "" ×6 + 3.29sINFOobjective_server_nodeinstance_id: "" ×6 + 3.29sINFOobjective_server_node ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671145 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671145 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788552831.25361633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.58sINFOros2_control_node[2026-09-04 20:13:51.469] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 20:13:51.469] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960997 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960997 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073817 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073817 ms (missed cycles : 4).[0m ×2 + 5.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.86sINFOros2_control_node[2026-09-04 20:13:53.752] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-09-04 20:13:53.752] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043935 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043935 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212689 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212689 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480446 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480446 ms (missed cycles : 2).[0m ×2 + 9.06sWARNros2_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 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386425 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386425 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 13.84sERRORobjective_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: 1788552841.73419642 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 15.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.20sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.45sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 15.45sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 15.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 57 warnings · 2260 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 + 7.36sWARNros2_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 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685018 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685018 ms (missed cycles : 2).[0m ×2 + 8.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.64sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901640 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901640 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 1 iterations (0.00446834 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.38sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.40sINFOros2_control_node[2026-09-04 20:17:12.690] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-09-04 20:17:12.690] [info] Accepted new action goal ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256153 ms (missed cycles : 5). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256153 ms (missed cycles : 5).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 11.70sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 11.70sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 13.46sWARNros2_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 + 13.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.51sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 14.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 14.34sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 14.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 14.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 14.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.92sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.00sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.19sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788553059.11953354 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.82sINFOobjective_server_nodecaller: ×8 + 2.82sINFOobjective_server_nodetype: 0 ×8 + 2.82sINFOobjective_server_nodename: "" ×8 + 2.82sINFOobjective_server_nodeinstance_id: "" ×8 + 2.82sINFOobjective_server_node ×8 + 2.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788553059.77209735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.01sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143594 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143594 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709313 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709313 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865782 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865782 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401052 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401052 ms (missed cycles : 2).[0m ×2 + 9.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 13.23sINFOobjective_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 + 13.24sERRORobjective_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: 1788553070.13236570 seconds ×3 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 13.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 13.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 13.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_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 + 14.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 15.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.11sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.29sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 15.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604919 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604919 ms (missed cycles : 3).[0m ×2 + 8.45sWARNros2_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 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679158 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679158 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184816 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184816 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4).[0m ×2 + 13.45sWARNros2_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 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2).[0m ×2 + 14.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553048.62452722 seconds ×3 + 14.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.80sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788553049.21641469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 15.14sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.16sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 199 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480026 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480026 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932467 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932467 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 1 iterations (0.00295159 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 2 iterations (0.00502197 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 1 iterations (0.00350138 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.69sINFOros2_control_node[2026-09-04 20:14:33.381] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-09-04 20:14:33.381] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690923 ms (missed cycles : 5). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690923 ms (missed cycles : 5).[0m ×2 + 9.23sWARNros2_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 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998631 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998631 ms (missed cycles : 2).[0m ×2 + 10.95sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012086 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012086 ms (missed cycles : 5).[0m ×2 + 11.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788552875.94493198 seconds ×3 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828292 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828292 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575531 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575531 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.05sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788552878.74885011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 14.26sINFOros2_control_node[2026-09-04 20:14:38.952] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-09-04 20:14:38.952] [info] Accepted new action goal ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686704 ms (missed cycles : 5). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686704 ms (missed cycles : 5).[0m ×2 + 15.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224656 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224656 ms (missed cycles : 4).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942662 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942662 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 57 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.60sINFOobjective_server_nodecaller: ×12 + 0.60sINFOobjective_server_nodetype: 0 ×12 + 0.60sINFOobjective_server_nodename: "" ×12 + 0.60sINFOobjective_server_nodeinstance_id: "" ×12 + 0.60sINFOobjective_server_node ×12 + 0.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.64sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.09sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.15sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632448 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632448 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844455 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844455 ms (missed cycles : 3).[0m ×2 + 7.87sWARNros2_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 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572704 ms (missed cycles : 5). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572704 ms (missed cycles : 5).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669121 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669121 ms (missed cycles : 2).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 9.95sINFOros2_control_node[2026-09-04 20:13:46.904] [info] Received new action goal ×2 + 9.95sINFOros2_control_node[2026-09-04 20:13:46.904] [info] Accepted new action goal ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322666 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322666 ms (missed cycles : 2).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821668 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821668 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532680 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532680 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.30sINFOros2_control_node[2026-09-04 20:13:50.255] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-04 20:13:50.255] [info] Accepted new action goal ×2 + 13.67sINFOobjective_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 + 13.68sINFOros2_control_node[2026-09-04 20:13:50.630] [info] Got request to cancel active goal. ×2 + 13.68sINFOros2_control_node[2026-09-04 20:13:50.630] [info] Canceling active goal... ×2 + 13.69sERRORobjective_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: 1788552830.64666414 seconds ×3 + 13.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sWARNros2_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 + 14.23sINFOobjective_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: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671145 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671145 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788552831.25361633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.51sINFOros2_control_node[2026-09-04 20:13:51.469] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-09-04 20:13:51.469] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960997 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960997 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073817 ms (missed cycles : 4). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073817 ms (missed cycles : 4).[0m ×2 + 16.78sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 16.78sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.80sINFOros2_control_node[2026-09-04 20:13:53.752] [info] Received new action goal ×2 + 16.80sINFOros2_control_node[2026-09-04 20:13:53.752] [info] Accepted new action goal ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043935 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043935 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553070.13236570 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.04sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.04sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.04sINFOobjective_server_nodecaller: ×12 + 2.04sINFOobjective_server_nodetype: 0 ×12 + 2.04sINFOobjective_server_nodename: "" ×12 + 2.04sINFOobjective_server_nodeinstance_id: "" ×12 + 2.04sINFOobjective_server_node ×12 + 2.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.75sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507547 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507547 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.81sINFOros2_control_node[2026-09-04 20:17:55.493] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-09-04 20:17:55.493] [info] Accepted new action goal ×2 + 6.81sINFOros2_control_node[2026-09-04 20:17:55.493] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370566 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370566 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086763 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086763 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587369 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587369 ms (missed cycles : 2).[0m ×2 + 9.95sWARNros2_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 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 13.52sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 13.52sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 13.52sERRORobjective_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: 1788553082.20442557 seconds ×3 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 14.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 15.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.97sINFOobjective_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 + 15.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 16.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553048.62452722 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788553049.21641469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529227 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529227 ms (missed cycles : 3).[0m ×2 + 7.41sINFOros2_control_node[2026-09-04 20:17:33.535] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-09-04 20:17:33.535] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795669 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795669 ms (missed cycles : 2).[0m ×2 + 8.40sWARNros2_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 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821364 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821364 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339636 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339636 ms (missed cycles : 4).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2).[0m ×2 + 12.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788553059.11953354 seconds ×3 + 13.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.58sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.64sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788553059.77209735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 13.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.78sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Received new action goal ×2 + 13.78sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Accepted new action goal ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3).[0m ×2 + 14.45sWARNros2_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 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3).[0m ×2 + 15.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.93sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 29 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788552901.67639589 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.07sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.07sINFOobjective_server_nodecaller: ×6 + 2.07sINFOobjective_server_nodetype: 0 ×6 + 2.07sINFOobjective_server_nodename: "" ×6 + 2.07sINFOobjective_server_nodeinstance_id: "" ×6 + 2.07sINFOobjective_server_node ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788552902.34283996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788552902.40298486 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 3.70sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.62sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.94sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788553082.20442557 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.22sINFOobjective_server_nodecaller: ×8 + 3.22sINFOobjective_server_nodetype: 0 ×8 + 3.22sINFOobjective_server_nodename: "" ×8 + 3.22sINFOobjective_server_nodeinstance_id: "" ×8 + 3.22sINFOobjective_server_node ×8 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788553085.98354816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4).[0m ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788553087.15380335 seconds ×3 + 7.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 29 warnings · 607 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 + 0.04sINFOros2-3process has finished cleanly [pid 7349] ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.24sINFOros2_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 + 0.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.24sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.24sWARNros2_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 + 0.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.24sINFOros2_control_node[2026-09-04 20:13:32.630] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.24sINFOros2_control_node[2026-09-04 20:13:32.630] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.25sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.28sINFOros2_control_node[2026-09-04 20:13:32.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.28sINFOros2_control_node[2026-09-04 20:13:32.666] [info] Controller state will be published at 50 Hz. ×2 + 0.28sINFOros2_control_node[2026-09-04 20:13:32.674] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.40sINFOcomponent_container_mt[2026-09-04 20:13:32.795] [moveit_pro_license] [info] ×2 + 0.40sINFOcomponent_container_mt************************************************* ×4 + 0.40sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.40sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.60sINFOros2-6process has finished cleanly [pid 7363] ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783317 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783317 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2-2process has finished cleanly [pid 7348] ×2 + 1.08sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 1.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 1.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_node[2026-09-04 20:13:33.563] [info] Controller state will be published at 20 Hz. ×2 + 1.17sINFOros2_control_node[2026-09-04 20:13:33.564] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 1.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 1.52sINFOros2-8process has finished cleanly [pid 7365] ×2 + 1.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.56sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.56sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.57sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.57sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.57sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.90sINFOros2-5process has finished cleanly [pid 7362] ×2 + 1.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 1.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 1.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.02sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 2.02sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 2.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 2.37sINFOros2-7process has finished cleanly [pid 7364] ×2 + 2.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2-4process has finished cleanly [pid 7361] ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.83sINFOobjective_server_nodecaller: ×14 + 2.83sINFOobjective_server_nodetype: 0 ×14 + 2.83sINFOobjective_server_nodename: "" ×14 + 2.83sINFOobjective_server_nodeinstance_id: "" ×14 + 2.83sINFOobjective_server_node ×14 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 3.86sWARNros2_control_nodeCamera render tick took 1.81 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 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 6.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 8.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.08sINFOobjective_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 + 8.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.21sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×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 4.099558 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 0.59sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 0.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553082.20442557 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788553085.98354816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788553087.15380335 seconds ×3 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654333 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654333 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 151 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788552901.67639589 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×5 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788552902.34283996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_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 `Load MuJoCo Robot State` succeeded at time: 1788552902.40298486 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 4.92sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 20:14:12.218] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 20:14:12.218] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNros2_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 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.53sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3).[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 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[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 1.837409 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_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 + 3.01sERRORobjective_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: 1788552841.73419642 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 467 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7362] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 23 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 0.59sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 0.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553082.20442557 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788553085.98354816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419467 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436701 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788553087.15380335 seconds ×3 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 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 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[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 1.837409 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_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 + 3.01sERRORobjective_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: 1788552841.73419642 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837409 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_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 + 3.01sERRORobjective_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: 1788552841.73419642 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1788552841.73419642 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[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 1.955973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1788552841.73419642 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[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 1.955973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1788552841.73419642 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[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 1.955973 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955973 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385420 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1788552841.73419642 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246638 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788552842.42280078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788552842.51293468 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942625 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788552843.14599872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:14:03.340] [info] Accepted new action goal ×2 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828977 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338083 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383800 ms (missed cycles : 3).[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 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 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 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 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 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 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 5.150955 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150955 ms (missed cycles : 4).[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284106 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-04 20:14:13.980] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338268 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788552855.26710749 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788552855.88018155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788552855.98031425 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709223 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788552856.62357402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 20:14:16.748] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657069 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112892 ms (missed cycles : 7).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969121 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-04 20:14:24.805] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738390 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601257 ms (missed cycles : 7).[0m ×2 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-09-04 20:14:27.145] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459862 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_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 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Got request to cancel active goal. ×2 + 2.53sINFOros2_control_node[2026-09-04 20:14:27.223] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788552867.22662044 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.13sWARNros2_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 + 3.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788552867.86296034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 20:14:28.076] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647446 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125973 ms (missed cycles : 4).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169573 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842129 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.05sINFOobjective_server_nodeFound path in 1 iterations (0.00333889 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-09-04 20:14:47.423] [info] Accepted new action goal ×2 + 1.70sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-09-04 20:14:47.825] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188644 ms (missed cycles : 5).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217360 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.15sERRORobjective_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: 1788552889.27253914 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788552890.05462718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456181 ms (missed cycles : 6).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 20:14:50.279] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386478 ms (missed cycles : 3).[0m ×2 + 5.60sWARNros2_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 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518697 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524125 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722000 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611360 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788552901.67639589 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184842 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788552902.34283996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_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 `Load MuJoCo Robot State` succeeded at time: 1788552902.40298486 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 4.92sWARNros2_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 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788552902.99183488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 20:15:03.115] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125555 ms (missed cycles : 4).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494653 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788552905.12196517 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915783 ms (missed cycles : 2).[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 + 3.22sINFOros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061723 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788552906.75394821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.160] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 20:15:07.161] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646202 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097584 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682276 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696465 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521408 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788552960.01903391 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_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: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788552960.61551237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.12sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 20:16:00.789] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686552 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_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 + 4.40sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997284 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709272 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639039 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_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 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710514 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989901 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788553026.55585194 seconds ×3 + 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 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303305 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_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: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788553027.25794601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 20:17:07.471] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844997 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907220 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019751 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684687 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-04 20:17:14.993] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498820 ms (missed cycles : 2).[0m ×2 + 1.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182896 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_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 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.801] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-04 20:17:16.802] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-09-04 20:17:17.628] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553037.64289236 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506019 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788553038.29410148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 20:17:18.478] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614070 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297086 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733653 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707060 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101884 ms (missed cycles : 4).[0m ×2 + 1.68sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972115 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553048.62452722 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788553049.21641469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305769 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 20:17:29.526] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856950 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700828 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168267 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042907 ms (missed cycles : 6).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723568 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788553059.11953354 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.82sINFOobjective_server_nodetype: 0 ×2 + 2.82sINFOobjective_server_nodename: "" ×2 + 2.82sINFOobjective_server_nodeinstance_id: "" ×2 + 2.82sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788553059.77209735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.01sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 20:17:39.905] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514295 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_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 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688042 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769941 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311647 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sERRORobjective_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: 1788553070.13236570 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553070.13236570 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.04sINFOobjective_server_nodecaller: ×6 + 2.04sINFOobjective_server_nodetype: 0 ×6 + 2.04sINFOobjective_server_nodename: "" ×6 + 2.04sINFOobjective_server_nodeinstance_id: "" ×6 + 2.04sINFOobjective_server_node ×6 + 2.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.75sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553070.13236570 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.04sINFOobjective_server_nodecaller: ×6 + 2.04sINFOobjective_server_nodetype: 0 ×6 + 2.04sINFOobjective_server_nodename: "" ×6 + 2.04sINFOobjective_server_nodeinstance_id: "" ×6 + 2.04sINFOobjective_server_node ×6 + 2.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.75sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376986 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131721 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788553070.13236570 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.04sINFOobjective_server_nodecaller: ×6 + 2.04sINFOobjective_server_nodetype: 0 ×6 + 2.04sINFOobjective_server_nodename: "" ×6 + 2.04sINFOobjective_server_nodeinstance_id: "" ×6 + 2.04sINFOobjective_server_node ×6 + 2.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788553070.77141142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399981 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788553070.84154081 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.75sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788553071.43914318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788553071.46136618 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729452 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788553072.05999708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 20:17:52.183] [info] Accepted new action goal ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553264 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296862 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788553082.20442557 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228684 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431936 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099558 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_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 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-09-04 20:18:02.200] [info] Canceling active goal... ×2 + 2.68sERRORobjective_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: 1788553082.20442557 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.22sINFOobjective_server_nodecaller: ×6 + 3.22sINFOobjective_server_nodetype: 0 ×6 + 3.22sINFOobjective_server_nodename: "" ×6 + 3.22sINFOobjective_server_nodeinstance_id: "" ×6 + 3.22sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788553082.79934263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377442 ms (missed cycles : 5).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274215 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788553084.05945969 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788553084.65448022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.13sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788553084.65655279 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417399 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788553085.25081277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788553085.25129652 seconds ×3 | ||||
▾
/__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 | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [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 | 7.6s | 45 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/2026-09-04-20-13-27-685702-d8980e2693d2-7299 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839670 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7347] ×2 + 0.84sINFOmove_group-9process started with pid [7398] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.84sINFOweb_bridge-19process started with pid [7408] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7474] ×2 + 0.84sINFOvideo_server-21process started with pid [7475] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7476] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7477] ×2 + 0.85sINFOros2-2process started with pid [7348] ×2 + 0.85sINFOros2-3process started with pid [7349] ×2 + 0.85sINFOros2-4process started with pid [7361] ×2 + 0.85sINFOros2-5process started with pid [7362] ×2 + 0.85sINFOros2-6process started with pid [7363] ×2 + 0.85sINFOros2-7process started with pid [7364] ×2 + 0.85sINFOros2-8process started with pid [7365] ×2 + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839670 ms (missed cycles : 2).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF configuration loaded from /tmp/moveit-webrtc-et54wp7y/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 20:13:29.792] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222711 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222711 ms (missed cycles : 6).[0m ×2 + 2.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOwaypoint_manager_node[2026-09-04 20:13:30.105] [moveit_pro_license] [info] ×2 + 2.04sINFOwaypoint_manager_node************************************************* ×4 + 2.04sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.04sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOros2_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 + 2.05sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sINFOobjective_server_node[2026-09-04 20:13:31.962] [moveit_pro_license] [info] ×2 + 3.90sINFOobjective_server_node************************************************* ×4 + 3.90sINFOobjective_server_node* MoveIt Pro License ×2 + 3.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.96sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.96sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.96sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.96sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.96sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.96sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.96sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.96sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.96sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.96sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.96sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.96sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.96sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.96sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.96sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.97sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.97sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.97sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.97sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.97sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.97sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.02sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.02sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.03sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 4.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 4.04sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.04sINFOobjective_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 + 4.04sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174165 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174165 ms (missed cycles : 4).[0m ×2 + 4.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.06sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.06sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.33sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.33sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.37sINFOros2-3process has finished cleanly [pid 7349] ×2 + 4.50sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 4.50sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 4.57sINFOros2_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 + 4.57sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.57sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.57sWARNros2_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 + 4.57sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.57sINFOros2_control_node[2026-09-04 20:13:32.630] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.57sINFOros2_control_node[2026-09-04 20:13:32.630] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.61sINFOros2_control_node[2026-09-04 20:13:32.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.61sINFOros2_control_node[2026-09-04 20:13:32.666] [info] Controller state will be published at 50 Hz. ×2 + 4.61sINFOros2_control_node[2026-09-04 20:13:32.674] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.73sINFOcomponent_container_mt[2026-09-04 20:13:32.795] [moveit_pro_license] [info] ×2 + 4.73sINFOcomponent_container_mt************************************************* ×4 + 4.73sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.73sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 4.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 4.93sINFOros2-6process has finished cleanly [pid 7363] ×2 + 4.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.95sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.95sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.95sINFOforce_torque_sensor_broadcasterconfigure successful + 4.95sINFOros2_control_nodeconfigure successful[0m ×2 + 4.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.96sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.96sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783317 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783317 ms (missed cycles : 3).[0m ×2 + 5.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.40sINFOros2-2process has finished cleanly [pid 7348] ×2 + 5.41sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 5.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 5.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.50sINFOros2_control_node[2026-09-04 20:13:33.563] [info] Controller state will be published at 20 Hz. ×2 + 5.50sINFOros2_control_node[2026-09-04 20:13:33.564] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 5.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 5.85sINFOros2-8process has finished cleanly [pid 7365] ×2 + 5.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.90sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.23sINFOros2-5process has finished cleanly [pid 7362] ×2 + 6.28sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 6.28sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 6.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.32sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.35sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 6.35sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 6.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 6.70sINFOros2-7process has finished cleanly [pid 7364] ×2 + 6.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 7.03sINFOros2-4process has finished cleanly [pid 7361] ×2 + 7.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 7.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 7.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 7.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 7.16sINFOobjective_server_nodecaller: ×10 + 7.16sINFOobjective_server_nodetype: 0 ×10 + 7.16sINFOobjective_server_nodename: "" ×10 + 7.16sINFOobjective_server_nodeinstance_id: "" ×10 + 7.16sINFOobjective_server_node ×10 + 7.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 7.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.76sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 8.19sWARNros2_control_nodeCamera render tick took 1.81 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 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 8.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 9.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 10.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 10.68sWARNros2_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 + 10.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 1.81 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 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.29sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 414 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 7.32sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 151 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/2026-09-04-20-13-27-685702-d8980e2693d2-7299 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839670 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7347] ×2 + 0.84sINFOmove_group-9process started with pid [7398] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.84sINFOweb_bridge-19process started with pid [7408] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7474] ×2 + 0.84sINFOvideo_server-21process started with pid [7475] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7476] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7477] ×2 + 0.85sINFOros2-2process started with pid [7348] ×2 + 0.85sINFOros2-3process started with pid [7349] ×2 + 0.85sINFOros2-4process started with pid [7361] ×2 + 0.85sINFOros2-5process started with pid [7362] ×2 + 0.85sINFOros2-6process started with pid [7363] ×2 + 0.85sINFOros2-7process started with pid [7364] ×2 + 0.85sINFOros2-8process started with pid [7365] ×2 + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839670 ms (missed cycles : 2).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF configuration loaded from /tmp/moveit-webrtc-et54wp7y/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/04 20:13:29 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 20:13:29.792] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222711 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222711 ms (missed cycles : 6).[0m ×2 + 2.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOwaypoint_manager_node[2026-09-04 20:13:30.105] [moveit_pro_license] [info] ×2 + 2.04sINFOwaypoint_manager_node************************************************* ×4 + 2.04sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.04sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOros2_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 + 2.05sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7362] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7362] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7362] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.409] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 20:13:34.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOobjective_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 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 412 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ho8rbkiv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dfhfyjwt --params-file /tmp/launch_params_wwujqu8c [0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7364] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814260 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7361] ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788552815.27051139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788552815.28085923 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788552815.87901640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157261 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 1.81 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 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.78sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [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 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632448 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632448 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [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 | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696115 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788552816.98921990 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788552817.60257006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788552817.66275716 seconds ×3 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622205 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788552818.36506939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788552818.38518572 seconds ×3 + 2.48sWARNros2_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 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788552818.97770548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788552819.12824917 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862333 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788552819.81094480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788552819.86107326 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861004 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788552820.46023011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.5267e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-04 20:13:40.596] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310706 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373863 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 20:13:43.104] [info] Accepted new action goal ×2 | ||||