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 · 19632 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788542684.70866179 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788542685.30574203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.31sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2).[0m ×2 + 6.69sINFOjoint_trajectory_controllerReceived new action goal ×3228 + 6.69sINFOjoint_trajectory_controllerAccepted new action goal ×3228 + 6.69sINFOros2_control_nodeReceived new action goal[0m ×6456 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×6456 + 6.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618455 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618455 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799801 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799801 ms (missed cycles : 5).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835849 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835849 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772519 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772519 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456950 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456950 ms (missed cycles : 2).[0m ×2 + 11.64sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.64sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.64sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.64sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907486 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907486 ms (missed cycles : 2).[0m ×2 + 13.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×4 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144997 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144997 ms (missed cycles : 2).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347319 ms (missed cycles : 4). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347319 ms (missed cycles : 4).[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311617 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311617 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879755 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879755 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874581 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874581 ms (missed cycles : 2).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196552 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196552 ms (missed cycles : 3).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806898 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806898 ms (missed cycles : 2).[0m ×2 + 20.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787454 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787454 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132906 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132906 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746328 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746328 ms (missed cycles : 2).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723991 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723991 ms (missed cycles : 3).[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777098 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777098 ms (missed cycles : 2).[0m ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829676 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829676 ms (missed cycles : 2).[0m ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673235 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673235 ms (missed cycles : 2).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156774 ms (missed cycles : 2). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156774 ms (missed cycles : 2).[0m ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852987 ms (missed cycles : 3). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852987 ms (missed cycles : 3).[0m ×2 + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626364 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626364 ms (missed cycles : 4).[0m ×2 + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331868 ms (missed cycles : 2). + 31.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331868 ms (missed cycles : 2).[0m ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2).[0m ×2 + 33.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890733 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890733 ms (missed cycles : 2).[0m ×2 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103624 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103624 ms (missed cycles : 2).[0m ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200130 ms (missed cycles : 2). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200130 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932933 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932933 ms (missed cycles : 2).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886678 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886678 ms (missed cycles : 2).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967726 ms (missed cycles : 2). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967726 ms (missed cycles : 2).[0m ×2 + 39.07sWARNros2_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 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687246 ms (missed cycles : 2). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687246 ms (missed cycles : 2).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353384 ms (missed cycles : 2). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353384 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786492 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786492 ms (missed cycles : 2).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194713 ms (missed cycles : 2). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194713 ms (missed cycles : 2).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931731 ms (missed cycles : 2). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931731 ms (missed cycles : 2).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535795 ms (missed cycles : 6). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535795 ms (missed cycles : 6).[0m ×2 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684863 ms (missed cycles : 2). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684863 ms (missed cycles : 2).[0m ×2 + 46.07sWARNros2_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 + 46.22sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622123 ms (missed cycles : 2). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622123 ms (missed cycles : 2).[0m ×2 + 46.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542729.11622119 seconds ×3 + 46.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.48sINFOobjective_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: ""
+ 47.48sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788542729.75045133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.62sINFOobjective_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 + 47.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.76sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 47.77sINFOros2_control_node[2026-09-04 17:25:29.944] [info] Received new action goal ×2 + 47.77sINFOros2_control_node[2026-09-04 17:25:29.944] [info] Accepted new action goal ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393235 ms (missed cycles : 6). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393235 ms (missed cycles : 6).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302999 ms (missed cycles : 4). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302999 ms (missed cycles : 4).[0m ×2 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706790 ms (missed cycles : 2). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 7.13sINFOros2_control_node[2026-09-04 17:23:53.684] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-09-04 17:23:53.684] [info] Accepted new action goal ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106634 ms (missed cycles : 5). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106634 ms (missed cycles : 5).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027038 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027038 ms (missed cycles : 3).[0m ×2 + 9.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008944 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008944 ms (missed cycles : 4).[0m ×2 + 10.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.45sINFOros2_control_node[2026-09-04 17:23:57.002] [info] Received new action goal ×2 + 10.45sINFOros2_control_node[2026-09-04 17:23:57.002] [info] Accepted new action goal ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820024 ms (missed cycles : 6). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.820024 ms (missed cycles : 6).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508510 ms (missed cycles : 6). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508510 ms (missed cycles : 6).[0m ×2 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.46sINFOros2_control_node[2026-09-04 17:24:00.015] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-09-04 17:24:00.015] [info] Accepted new action goal ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920862 ms (missed cycles : 4). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920862 ms (missed cycles : 4).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078649 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078649 ms (missed cycles : 2).[0m ×2 + 15.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370981 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370981 ms (missed cycles : 2).[0m ×2 + 16.42sINFOobjective_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 + 16.42sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401702 ms (missed cycles : 5). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401702 ms (missed cycles : 5).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.812646 ms (missed cycles : 6). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.812646 ms (missed cycles : 6).[0m ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265429 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265429 ms (missed cycles : 3).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477395 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477395 ms (missed cycles : 3).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681137 ms (missed cycles : 5). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681137 ms (missed cycles : 5).[0m ×2 + 21.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845155 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845155 ms (missed cycles : 2).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130030 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130030 ms (missed cycles : 3).[0m ×2 + 24.01sINFOobjective_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 + 24.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.01sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905514 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905514 ms (missed cycles : 2).[0m ×2 + 24.90sINFOros2_control_node[2026-09-04 17:24:11.451] [info] Received new action goal ×2 + 24.90sINFOros2_control_node[2026-09-04 17:24:11.451] [info] Accepted new action goal ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926786 ms (missed cycles : 5). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926786 ms (missed cycles : 5).[0m ×2 + 26.08sINFOobjective_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 + 26.09sINFOobjective_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 + 26.37sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 26.42sINFOros2_control_node[2026-09-04 17:24:12.975] [info] Received new action goal ×2 + 26.42sINFOros2_control_node[2026-09-04 17:24:12.975] [info] Accepted new action goal ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420587 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420587 ms (missed cycles : 2).[0m ×2 + 27.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397335 ms (missed cycles : 6). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397335 ms (missed cycles : 6).[0m ×2 + 28.73sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 28.74sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.75sINFOros2_control_node[2026-09-04 17:24:15.302] [info] Received new action goal ×2 + 28.75sINFOros2_control_node[2026-09-04 17:24:15.302] [info] Accepted new action goal ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225722 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225722 ms (missed cycles : 2).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876102 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876102 ms (missed cycles : 4).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184867 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184867 ms (missed cycles : 2).[0m ×2 + 31.88sINFOros2_control_node[2026-09-04 17:24:18.433] [info] Received new action goal ×2 + 31.88sINFOros2_control_node[2026-09-04 17:24:18.433] [info] Accepted new action goal ×2 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968710 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968710 ms (missed cycles : 2).[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072288 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072288 ms (missed cycles : 2).[0m ×2 + 33.53sWARNros2_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 + 34.46sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 34.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.52sINFOros2_control_node[2026-09-04 17:24:21.075] [info] Received new action goal ×2 + 34.52sINFOros2_control_node[2026-09-04 17:24:21.075] [info] Accepted new action goal ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527878 ms (missed cycles : 6). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.527878 ms (missed cycles : 6).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204776 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204776 ms (missed cycles : 2).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390661 ms (missed cycles : 5). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390661 ms (missed cycles : 5).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436577 ms (missed cycles : 6). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436577 ms (missed cycles : 6).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510677 ms (missed cycles : 2). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510677 ms (missed cycles : 2).[0m ×2 + 39.51sWARNros2_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 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918489 ms (missed cycles : 2). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918489 ms (missed cycles : 2).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364428 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364428 ms (missed cycles : 2).[0m ×2 + 41.84sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112301 ms (missed cycles : 4). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112301 ms (missed cycles : 4).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.101781 ms (missed cycles : 7). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.101781 ms (missed cycles : 7).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435797 ms (missed cycles : 2). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435797 ms (missed cycles : 2).[0m ×2 + 45.20sINFOros2_control_node[2026-09-04 17:24:31.751] [info] Received new action goal ×2 + 45.20sINFOros2_control_node[2026-09-04 17:24:31.751] [info] Accepted new action goal ×2 + 45.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060035 ms (missed cycles : 5). + 45.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060035 ms (missed cycles : 5).[0m ×2 + 46.35sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788542672.90853214 seconds ×3 + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818702 ms (missed cycles : 5). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818702 ms (missed cycles : 5).[0m ×2 + 46.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.95sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.14sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788542673.69849801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111154 ms (missed cycles : 4). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111154 ms (missed cycles : 4).[0m ×2 + 48.41sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 48.43sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.44sINFOros2_control_node[2026-09-04 17:24:34.993] [info] Received new action goal ×2 + 48.44sINFOros2_control_node[2026-09-04 17:24:34.993] [info] Accepted new action goal ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931654 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931654 ms (missed cycles : 3).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847519 ms (missed cycles : 4). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847519 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13599 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2234 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2234 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4468 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4468 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931731 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931731 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535795 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535795 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684863 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684863 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_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 + 2.53sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622123 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622123 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×3 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×6 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542729.11622119 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788542729.75045133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:25:29.944] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:25:29.944] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393235 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393235 ms (missed cycles : 6).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302999 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302999 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 + 5.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706790 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706790 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464472 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464472 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725699 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725699 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417407 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417407 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810824 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810824 ms (missed cycles : 2).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149862 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149862 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103484 ms (missed cycles : 5). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103484 ms (missed cycles : 5).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184064 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184064 ms (missed cycles : 2).[0m ×2 + 14.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887088 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887088 ms (missed cycles : 2).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291911 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291911 ms (missed cycles : 3).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431112 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431112 ms (missed cycles : 3).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792623 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792623 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381434 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381434 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362205 ms (missed cycles : 5). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362205 ms (missed cycles : 5).[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673215 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673215 ms (missed cycles : 2).[0m ×2 + 21.23sWARNros2_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 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048093 ms (missed cycles : 2). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048093 ms (missed cycles : 2).[0m ×2 + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 25.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 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: 1788542751.97390771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 26.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.29sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 26.30sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 27.03sWARNros2_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 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×4 + 0.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 1 iterations (0.00309292 s). ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.15sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Accepted new action goal ×2 + 1.56sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Accepted new action goal ×2 + 1.79sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4).[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_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 + 3.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.01sERRORobjective_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: 1788542613.23349643 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_nodecaller: ×6 + 3.72sINFOobjective_server_nodetype: 0 ×6 + 3.72sINFOobjective_server_nodename: "" ×6 + 3.72sINFOobjective_server_nodeinstance_id: "" ×6 + 3.72sINFOobjective_server_node ×6 + 3.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788542614.05884361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.99sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Accepted new action goal ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902126 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902126 ms (missed cycles : 4).[0m ×2 + 7.74sWARNros2_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 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244815 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244815 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.234805 ms (missed cycles : 7). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.234805 ms (missed cycles : 7).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303134 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303134 ms (missed cycles : 5).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114547 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114547 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2).[0m ×2 + 13.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788542625.29452968 seconds ×3 + 15.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.68sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788542625.95391226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3).[0m ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788542626.01404738 seconds ×3 + 16.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.33sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.53sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 16.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.55sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 16.55sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 18.55sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435797 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435797 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_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 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.07sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-04 17:24:31.751] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 17:24:31.751] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060035 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060035 ms (missed cycles : 5).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788542672.90853214 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818702 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818702 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788542673.69849801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111154 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111154 ms (missed cycles : 4).[0m ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.19sINFOros2_control_node[2026-09-04 17:24:34.993] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-04 17:24:34.993] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931654 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931654 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847519 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847519 ms (missed cycles : 4).[0m ×2 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214085 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214085 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.89sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.89sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700662 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700662 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118167 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118167 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067815 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067815 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.30sINFOros2_control_node[2026-09-04 17:24:41.103] [info] Received new action goal ×2 + 10.30sINFOros2_control_node[2026-09-04 17:24:41.103] [info] Accepted new action goal ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2).[0m ×2 + 12.25sWARNros2_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 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4).[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788542684.70866179 seconds ×3 + 14.45sINFOobjective_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: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788542685.30574203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4).[0m ×2 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 14.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.68sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3).[0m ×2 + 15.94sINFOobjective_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 + 15.95sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.4s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 1.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sERRORobjective_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: 1788542567.23059344 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.81sINFOobjective_server_nodecaller: ×8 + 1.81sINFOobjective_server_nodetype: 0 ×8 + 1.81sINFOobjective_server_nodename: "" ×8 + 1.81sINFOobjective_server_nodeinstance_id: "" ×8 + 1.81sINFOobjective_server_node ×8 + 1.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.431775 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.431775 ms (missed cycles : 6).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975165 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975165 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (4.92e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00263955 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.04sINFOros2_control_node[2026-09-04 17:22:54.086] [info] Received new action goal ×2 + 8.04sINFOros2_control_node[2026-09-04 17:22:54.086] [info] Accepted new action goal ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393647 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393647 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497915 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497915 ms (missed cycles : 3).[0m ×2 + 9.75sWARNros2_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 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791846 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791846 ms (missed cycles : 4).[0m ×2 + 10.34sINFOros2_control_node[2026-09-04 17:22:56.388] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-09-04 17:22:56.388] [info] Accepted new action goal ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 12.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.10sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 12.10sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 13.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 14.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 14.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.86sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 15.74sWARNros2_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 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 54 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.43sINFOobjective_server_nodecaller: ×6 + 2.43sINFOobjective_server_nodetype: 0 ×6 + 2.43sINFOobjective_server_nodename: "" ×6 + 2.43sINFOobjective_server_nodeinstance_id: "" ×6 + 2.43sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679620 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679620 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.73sINFOros2_control_node[2026-09-04 17:23:04.269] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 17:23:04.269] [info] Accepted new action goal ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870155 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870155 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021929 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021929 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 9.06sINFOros2_control_node[2026-09-04 17:23:06.607] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-09-04 17:23:06.607] [info] Accepted new action goal ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906837 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906837 ms (missed cycles : 5).[0m ×2 + 10.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 11.42sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 13.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 13.76sERRORobjective_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: 1788542591.30700350 seconds ×3 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 14.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.61sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.77sINFOobjective_server_nodecaller: ×12 + 0.77sINFOobjective_server_nodetype: 0 ×12 + 0.77sINFOobjective_server_nodename: "" ×12 + 0.77sINFOobjective_server_nodeinstance_id: "" ×12 + 0.77sINFOobjective_server_node ×12 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917448 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917448 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902819 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902819 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818804 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818804 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040579 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040579 ms (missed cycles : 5).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.07sINFOros2_control_node[2026-09-04 17:22:32.296] [info] Received new action goal ×2 + 10.07sINFOros2_control_node[2026-09-04 17:22:32.296] [info] Accepted new action goal ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352947 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352947 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602425 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602425 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237344 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237344 ms (missed cycles : 3).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.41sINFOros2_control_node[2026-09-04 17:22:35.628] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-04 17:22:35.628] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130672 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130672 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_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 + 14.11sINFOros2_control_node[2026-09-04 17:22:36.334] [info] Got request to cancel active goal. ×2 + 14.11sINFOros2_control_node[2026-09-04 17:22:36.334] [info] Canceling active goal... ×2 + 14.13sERRORobjective_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: 1788542556.35002565 seconds ×3 + 14.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.67sINFOobjective_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: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788542556.96006155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 14.95sINFOros2_control_node[2026-09-04 17:22:37.174] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-09-04 17:22:37.174] [info] Accepted new action goal ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013967 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013967 ms (missed cycles : 2).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633749 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633749 ms (missed cycles : 3).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180265 ms (missed cycles : 4). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180265 ms (missed cycles : 4).[0m ×2 + 17.23sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 17.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.24sINFOros2_control_node[2026-09-04 17:22:39.464] [info] Received new action goal ×2 + 17.24sINFOros2_control_node[2026-09-04 17:22:39.464] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 61 errors · 37 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 0.09sINFOobjective_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 + 0.09sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 0.09sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 0.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788542807.23345017 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 1.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542811.47518039 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2).[0m ×2 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038912 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038912 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659318 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659318 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948724 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948724 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130630 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130630 ms (missed cycles : 2).[0m ×2 + 9.98sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.99sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORweb_video_auth_proxy-23process has died [pid 7473, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.99sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.99sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORweb_bridge_auth_proxy-22process has died [pid 7472, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.99sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.00sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.00sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.01sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.01sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.01sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.02sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.02sINFOvideo_server-21process has finished cleanly [pid 7471] ×2 + 10.02sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.02sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.03sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.03sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.04sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.04sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.05sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.06sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.06sINFOcontroller_managerShutdown request received.... + 10.06sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.06sINFOvideo_server2026/09/04 17:26:57 INF shutting down gracefully ×2 + 10.06sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.06sINFOvideo_server2026/09/04 17:26:57 INF [WebRTC] closing ×2 + 10.06sINFOvideo_server2026/09/04 17:26:57 INF [RTSP] closing ×2 + 10.06sINFOvideo_server2026/09/04 17:26:57 INF waiting for running hooks ×2 + 10.06sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.06sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.06sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.06sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.06sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.06sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.06sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.06sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.06sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.06sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.06sINFOcontroller_managerShutting down the controller manager. + 10.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.06sERRORmove_groupStack trace (most recent call last) in thread 7815: ×2 + 10.06sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.06sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.06sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbed5d3ca63, in __clone ×2 + 10.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbed5cafaa3, in ×2 + 10.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbed5f41db3, in ×2 + 10.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fbed66a6a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbed62d3620, in rclcpp::Rate::sleep() ×2 + 10.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbed6215d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbed61d7087, in ×2 + 10.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbed5f10390, in __cxa_throw ×2 + 10.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbed5efaa54, in std::terminate() ×2 + 10.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbed5f100d9, in ×2 + 10.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbed5efaff4, in ×2 + 10.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbed5c3b8fe, in abort ×2 + 10.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbed5c5827d, in raise ×2 + 10.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbed5cb1b2c, in pthread_kill ×2 + 10.07sERRORmove_groupAborted (Signal sent by tkill() 7377 0) ×2 + 10.08sERRORmove_group-9process has died [pid 7377, 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_2t3m9gzr --params-file /tmp/launch_params_cnkmd270 --params-file /tmp/launch_params_umgqjmgx --params-file /tmp/launch_params_gakg8d0k --params-file /tmp/launch_params_d02a5wkw --params-file /tmp/launch_params_9_ukk0jj']. ×2 + 10.27sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.27sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.05sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7463] ×2 + 11.05sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.07sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7387] ×2 + 11.08sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7386] ×2 + 11.11sINFOexecute_objective_bridge-17process has finished cleanly [pid 7393] ×2 + 11.11sINFOcomponent_container_mt-16process has finished cleanly [pid 7392] ×2 + 11.12sINFOparameter_manager_node-10process has finished cleanly [pid 7378] ×2 + 11.12sINFOui_teleop_bridge-18process has finished cleanly [pid 7394] ×2 + 11.13sINFOwaypoint_manager_node-11process has finished cleanly [pid 7379] ×2 + 11.19sINFOobjective_server_node[0;m[2026-09-04 17:26:58.331] [moveit_pro_license] [critical] ×2 + 11.19sINFOobjective_server_node************************************************* ×4 + 11.19sINFOobjective_server_node* MoveIt Pro License ×2 + 11.19sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.33sINFOobjective_server_node_main-14process has finished cleanly [pid 7390] ×2 + 11.33sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.21sINFOcomponent_container_mt-15process has finished cleanly [pid 7391] ×2 + 12.25sINFOweb_bridge-19process has finished cleanly [pid 7395] ×2 + 12.25sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.69sINFOros2_control_node-1process has finished cleanly [pid 7336] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_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 + 0.98sERRORobjective_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: 1788542794.73693967 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.57sINFOobjective_server_nodecaller: ×14 + 1.57sINFOobjective_server_nodetype: 0 ×14 + 1.57sINFOobjective_server_nodename: "" ×14 + 1.57sINFOobjective_server_nodeinstance_id: "" ×14 + 1.57sINFOobjective_server_node ×14 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_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 + 2.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[0m ×2 + 6.42sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.43sINFOros2_control_node[2026-09-04 17:26:40.182] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 17:26:40.182] [info] Accepted new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 17:26:40.182] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483797 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483797 ms (missed cycles : 2).[0m ×2 + 7.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695350 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695350 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093519 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093519 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.766429 ms (missed cycles : 8). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.766429 ms (missed cycles : 8).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 12.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 13.47sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 13.47sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1788542807.23345017 seconds ×3 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.26sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.31sINFOobjective_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 + 15.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.85sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 16.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 16.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585782 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585782 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478947 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478947 ms (missed cycles : 3).[0m ×2 + 1.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.95sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788542601.15065408 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586959 ms (missed cycles : 7). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586959 ms (missed cycles : 7).[0m ×2 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598013 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598013 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788542602.85003352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-09-04 17:23:23.064] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 17:23:23.064] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065579 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065579 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712344 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712344 ms (missed cycles : 3).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155897 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155897 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039481 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039481 ms (missed cycles : 2).[0m ×2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.97sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 1 iterations (0.00539606 s). ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024013 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024013 ms (missed cycles : 4).[0m ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 2 iterations (0.00555783 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 1 iterations (0.00356297 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.23sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.30sINFOros2_control_node[2026-09-04 17:23:28.467] [info] Received new action goal ×2 + 9.30sINFOros2_control_node[2026-09-04 17:23:28.467] [info] Accepted new action goal ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324229 ms (missed cycles : 6). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324229 ms (missed cycles : 6).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4).[0m ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×4 + 11.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.96sINFOobjective_server_nodeFound path in 1 iterations (0.00309292 s). ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2).[0m ×2 + 12.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.21sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Accepted new action goal ×2 + 12.62sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Received new action goal ×2 + 12.62sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Accepted new action goal ×2 + 12.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4).[0m ×2 + 14.06sINFOobjective_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 + 14.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.07sERRORobjective_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: 1788542613.23349643 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788542614.05884361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2).[0m ×2 + 17.57sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Received new action goal ×2 + 17.57sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788542783.74553990 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.39sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.39sINFOobjective_server_nodecaller: ×8 + 3.39sINFOobjective_server_nodetype: 0 ×8 + 3.39sINFOobjective_server_nodename: "" ×8 + 3.39sINFOobjective_server_nodeinstance_id: "" ×8 + 3.39sINFOobjective_server_node ×8 + 3.45sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788542784.39667845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656409 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656409 ms (missed cycles : 4).[0m ×2 + 7.46sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980569 ms (missed cycles : 5). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980569 ms (missed cycles : 5).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361963 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361963 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 13.79sINFOobjective_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 + 13.79sERRORobjective_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: 1788542794.73693967 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 14.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 15.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.76sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.93sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 15.93sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 59 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906780 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906780 ms (missed cycles : 5).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374404 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374404 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426213 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426213 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531371 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531371 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2).[0m ×2 + 12.09sWARNros2_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 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_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 + 14.24sERRORobjective_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: 1788542773.23706436 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788542773.83341551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.15sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Received new action goal ×2 + 15.15sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2).[0m ×2 + 17.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 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 · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498237 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498237 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104935 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104935 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.07sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×4 + 9.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.54sINFOobjective_server_nodeFound path in 1 iterations (0.00306035 s). ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043000 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043000 ms (missed cycles : 2).[0m ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 2 iterations (0.00716086 s). ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.85sINFOobjective_server_nodeFound path in 1 iterations (0.00337311 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 10.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.28sINFOros2_control_node[2026-09-04 17:23:18.595] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-09-04 17:23:18.595] [info] Accepted new action goal ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585782 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585782 ms (missed cycles : 2).[0m ×2 + 11.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478947 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478947 ms (missed cycles : 3).[0m ×2 + 12.54sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.80sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.80sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.81sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788542601.15065408 seconds ×3 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586959 ms (missed cycles : 7). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586959 ms (missed cycles : 7).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598013 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598013 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.54sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788542602.85003352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 14.75sINFOros2_control_node[2026-09-04 17:23:23.064] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-04 17:23:23.064] [info] Accepted new action goal ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065579 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065579 ms (missed cycles : 2).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712344 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712344 ms (missed cycles : 3).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155897 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155897 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 54 warnings · 2247 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868288 ms (missed cycles : 5). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868288 ms (missed cycles : 5).[0m ×2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316085 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316085 ms (missed cycles : 3).[0m ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 1 iterations (0.00371304 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.65sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.68sINFOros2_control_node[2026-09-04 17:25:56.694] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-09-04 17:25:56.694] [info] Accepted new action goal ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371578 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371578 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683441 ms (missed cycles : 6). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683441 ms (missed cycles : 6).[0m ×2 + 10.99sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 11.06sWARNros2_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 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 14.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 15.06sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 16.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 16.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602425 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602425 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237344 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237344 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.49sINFOros2_control_node[2026-09-04 17:22:35.628] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-09-04 17:22:35.628] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130672 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130672 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.20sINFOros2_control_node[2026-09-04 17:22:36.334] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-09-04 17:22:36.334] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788542556.35002565 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.76sINFOobjective_server_nodecaller: ×6 + 2.76sINFOobjective_server_nodetype: 0 ×6 + 2.76sINFOobjective_server_nodename: "" ×6 + 2.76sINFOobjective_server_nodeinstance_id: "" ×6 + 2.76sINFOobjective_server_node ×6 + 2.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788542556.96006155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-09-04 17:22:37.174] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-04 17:22:37.174] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013967 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013967 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633749 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633749 ms (missed cycles : 3).[0m ×2 + 5.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180265 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180265 ms (missed cycles : 4).[0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 5.32sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.33sINFOros2_control_node[2026-09-04 17:22:39.464] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 17:22:39.464] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356522 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356522 ms (missed cycles : 6).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005189 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005189 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176585 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176585 ms (missed cycles : 2).[0m ×2 + 8.92sWARNros2_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 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434893 ms (missed cycles : 4). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434893 ms (missed cycles : 4).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 13.10sERRORobjective_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: 1788542567.23059344 seconds ×3 + 13.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.71sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 15.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sERRORobjective_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: 1788542773.23706436 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788542773.83341551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896263 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896263 ms (missed cycles : 4).[0m ×2 + 7.97sINFOros2_control_node[2026-09-04 17:26:18.160] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-09-04 17:26:18.160] [info] Accepted new action goal ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337547 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337547 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261381 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261381 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2).[0m ×2 + 12.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3).[0m ×2 + 13.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788542783.74553990 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788542784.39667845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.33sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.35sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2).[0m ×2 + 16.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 37 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788542625.29452968 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788542625.95391226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788542626.01404738 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 7.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 7.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.49sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.64sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.97sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 33 warnings · 693 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.23sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.23sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.51sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.51sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.51sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.51sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.51sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.51sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.51sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.51sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.51sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.51sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.51sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.51sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.51sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.65sINFOcomponent_container_mt[2026-09-04 17:22:18.511] [moveit_pro_license] [info] ×2 + 0.65sINFOcomponent_container_mt************************************************* ×4 + 0.65sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.65sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.70sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.70sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.89sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOros2_control_node[2026-09-04 17:22:18.755] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_node[2026-09-04 17:22:18.755] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.92sINFOros2_control_node[2026-09-04 17:22:18.779] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.92sINFOros2_control_node[2026-09-04 17:22:18.779] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.93sINFOros2_control_node[2026-09-04 17:22:18.788] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.05sINFOros2_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 + 1.05sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.05sWARNros2_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 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.22sINFOros2-6process has finished cleanly [pid 7352] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801966 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801966 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.54sINFOros2-5process has finished cleanly [pid 7351] ×2 + 1.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.90sINFOros2-3process has finished cleanly [pid 7338] ×2 + 1.98sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.98sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 2.02sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.02sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.05sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 2.05sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.33sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.33sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.36sINFOros2-7process has finished cleanly [pid 7353] ×2 + 2.39sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 2.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 2.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.45sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 2.45sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.78sINFOobjective_server_nodecaller: ×14 + 2.78sINFOobjective_server_nodetype: 0 ×14 + 2.78sINFOobjective_server_nodename: "" ×14 + 2.78sINFOobjective_server_nodeinstance_id: "" ×14 + 2.78sINFOobjective_server_node ×14 + 2.80sINFOros2-8process has finished cleanly [pid 7354] ×2 + 2.81sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.81sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.81sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.82sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 2.82sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 2.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 3.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 3.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 3.21sINFOros2-4process has finished cleanly [pid 7350] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.22sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOforce_torque_sensor_broadcasterconfigure successful + 3.23sINFOros2_control_nodeconfigure successful[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.54sINFOros2-2process has finished cleanly [pid 7337] ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 4.61sWARNros2_control_nodeCamera render tick took 1.85 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 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 7.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.12sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 2.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1788542807.23345017 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542811.47518039 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2).[0m ×2 + 6.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 1.23sINFOobjective_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 + 1.23sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 1.23sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 1.24sERRORobjective_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: 1788542807.23345017 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.78sINFOobjective_server_nodecaller: ×8 + 1.78sINFOobjective_server_nodetype: 0 ×8 + 1.78sINFOobjective_server_nodename: "" ×8 + 1.78sINFOobjective_server_nodeinstance_id: "" ×8 + 1.78sINFOobjective_server_node ×8 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.07sINFOobjective_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 + 3.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542811.47518039 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2).[0m ×2 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3).[0m ×2 + 6.97sWARNros2_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 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788542625.29452968 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788542625.95391226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788542626.01404738 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sERRORobjective_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: 1788542794.73693967 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_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 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.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 1.879112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sERRORobjective_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: 1788542794.73693967 seconds ×3 + 2.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.62sINFOobjective_server_nodecaller: ×6 + 2.62sINFOobjective_server_nodetype: 0 ×6 + 2.62sINFOobjective_server_nodename: "" ×6 + 2.62sINFOobjective_server_nodeinstance_id: "" ×6 + 2.62sINFOobjective_server_node ×6 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.17sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791846 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791846 ms (missed cycles : 4).[0m ×2 + 0.02sINFOros2_control_node[2026-09-04 17:22:56.388] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-04 17:22:56.388] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.54sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.91sINFOobjective_server_nodecaller: ×14 + 0.91sINFOobjective_server_nodetype: 0 ×14 + 0.91sINFOobjective_server_nodename: "" ×14 + 0.91sINFOobjective_server_nodeinstance_id: "" ×14 + 0.91sINFOobjective_server_node ×14 + 0.94sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.74sWARNros2_control_nodeCamera render tick took 1.85 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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 5.22sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_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 + 2.40sERRORobjective_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: 1788542567.23059344 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 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_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 1.23sINFOobjective_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 + 1.23sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 1.23sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 1.24sERRORobjective_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: 1788542807.23345017 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.78sINFOobjective_server_nodecaller: ×8 + 1.78sINFOobjective_server_nodetype: 0 ×8 + 1.78sINFOobjective_server_nodename: "" ×8 + 1.78sINFOobjective_server_nodeinstance_id: "" ×8 + 1.78sINFOobjective_server_node ×8 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.07sINFOobjective_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 + 3.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788542811.47518039 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957837 ms (missed cycles : 2).[0m ×2 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172268 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2137 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906780 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906780 ms (missed cycles : 5).[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 1.813215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_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 + 2.40sERRORobjective_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: 1788542567.23059344 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 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_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[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 1.813215 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813215 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_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 + 2.40sERRORobjective_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: 1788542567.23059344 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 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_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 1.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sERRORobjective_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: 1788542567.23059344 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.81sINFOobjective_server_nodecaller: ×4 + 1.81sINFOobjective_server_nodetype: 0 ×4 + 1.81sINFOobjective_server_nodename: "" ×4 + 1.81sINFOobjective_server_nodeinstance_id: "" ×4 + 1.81sINFOobjective_server_node ×4 + 1.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 1.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sERRORobjective_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: 1788542567.23059344 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.81sINFOobjective_server_nodecaller: ×4 + 1.81sINFOobjective_server_nodetype: 0 ×4 + 1.81sINFOobjective_server_nodename: "" ×4 + 1.81sINFOobjective_server_nodeinstance_id: "" ×4 + 1.81sINFOobjective_server_node ×4 + 1.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 1.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sERRORobjective_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: 1788542567.23059344 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.81sINFOobjective_server_nodecaller: ×4 + 1.81sINFOobjective_server_nodetype: 0 ×4 + 1.81sINFOobjective_server_nodename: "" ×4 + 1.81sINFOobjective_server_nodeinstance_id: "" ×4 + 1.81sINFOobjective_server_node ×4 + 1.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278105 ms (missed cycles : 5).[0m ×2 + 1.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sERRORobjective_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: 1788542567.23059344 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.81sINFOobjective_server_nodecaller: ×4 + 1.81sINFOobjective_server_nodetype: 0 ×4 + 1.81sINFOobjective_server_nodename: "" ×4 + 1.81sINFOobjective_server_nodeinstance_id: "" ×4 + 1.81sINFOobjective_server_node ×4 + 1.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788542567.91174102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788542567.99186325 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874258 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788542568.63574314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-09-04 17:22:48.839] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957639 ms (missed cycles : 2).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126281 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000901 ms (missed cycles : 2).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-04 17:22:58.151] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236486 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788542579.43754721 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038394 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788542580.04885793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788542580.12897801 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521162 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788542580.78597474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-04 17:23:00.910] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062910 ms (missed cycles : 2).[0m ×2 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739168 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369714 ms (missed cycles : 6).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.65sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 17:23:08.967] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758461 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.321813 ms (missed cycles : 8).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 2.99sERRORobjective_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: 1788542591.30700350 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788542591.94868660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634192 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 17:23:12.152] [info] Accepted new action goal ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593033 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613296 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829811 ms (missed cycles : 4).[0m ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×4 + 0.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.91sINFOobjective_server_nodeFound path in 1 iterations (0.00309292 s). ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870342 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.15sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-04 17:23:31.375] [info] Accepted new action goal ×2 + 1.56sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-09-04 17:23:31.785] [info] Accepted new action goal ×2 + 1.79sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037373 ms (missed cycles : 4).[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_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 + 3.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.01sERRORobjective_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: 1788542613.23349643 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367736 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788542614.05884361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.99sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-04 17:23:34.212] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289784 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174391 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270242 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-04 17:23:36.732] [info] Accepted new action goal ×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 3.832628 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832628 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359302 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738246 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788542625.29452968 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788542625.95391226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786924 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788542626.01404738 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_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: 1788542626.60781956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-04 17:23:46.771] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434460 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237253 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788542628.77795053 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555031 ms (missed cycles : 6).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_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 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732094 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788542630.40836906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-04 17:23:50.825] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874177 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617148 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289357 ms (missed cycles : 2).[0m ×2 + 0.88sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369343 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884407 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788542684.70866179 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788542685.30574203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343277 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.31sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-09-04 17:24:45.480] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537412 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375311 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2137 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2137 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2137 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2137 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841620 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045494 ms (missed cycles : 4).[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801330 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788542751.26700497 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][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 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788542751.97390771 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433751 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 17:25:52.167] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331748 ms (missed cycles : 4).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272972 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 22 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 17:25:58.996] [info] Accepted new action goal ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839113 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103015 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-09-04 17:26:00.907] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536558 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788542762.19423413 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533203 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788542762.88651609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 17:26:03.070] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133982 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845394 ms (missed cycles : 3).[0m ×2 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671870 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sERRORobjective_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: 1788542773.23706436 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231732 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788542773.83341551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 17:26:14.143] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309097 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510547 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078929 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435380 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606863 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581338 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788542783.74553990 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534537 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788542784.39667845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-04 17:26:24.534] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268540 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871686 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371500 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sERRORobjective_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: 1788542794.73693967 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_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 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sERRORobjective_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: 1788542794.73693967 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_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 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sERRORobjective_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: 1788542794.73693967 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_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 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927979 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879112 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sERRORobjective_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: 1788542794.73693967 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 3.43sWARNros2_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 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[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 5.160959 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_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 + 0.98sERRORobjective_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: 1788542794.73693967 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_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 + 2.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[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 5.160959 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_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 + 0.98sERRORobjective_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: 1788542794.73693967 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_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 + 2.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[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 5.160959 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160959 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_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 + 0.98sERRORobjective_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: 1788542794.73693967 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200123 ms (missed cycles : 4).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788542795.37885642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788542795.44897914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801507 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788542796.04313612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_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 + 2.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788542796.15594125 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788542796.74905396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-04 17:26:36.872] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925842 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875798 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098766 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 2.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1788542807.23345017 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277966 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137038 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624381 ms (missed cycles : 6).[0m ×2 + 2.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-09-04 17:26:47.229] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1788542807.23345017 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788542807.82451630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786701 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788542808.47464132 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788542809.06290197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.07sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788542809.06572700 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046575 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788542809.66433978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788542809.66492891 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401005 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788542810.39506531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [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 | 6.9s | 37 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/2026-09-04-17-22-13-856375-7592f4396b4a-7288 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971785 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7336] ×2 + 0.85sINFOmove_group-9process started with pid [7377] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7378] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7379] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7386] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7387] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7390] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7391] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7392] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7393] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7394] ×2 + 0.85sINFOweb_bridge-19process started with pid [7395] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7463] ×2 + 0.85sINFOvideo_server-21process started with pid [7471] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7472] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7473] ×2 + 0.87sINFOros2-2process started with pid [7337] ×2 + 0.87sINFOros2-3process started with pid [7338] ×2 + 0.87sINFOros2-4process started with pid [7350] ×2 + 0.87sINFOros2-5process started with pid [7351] ×2 + 0.87sINFOros2-6process started with pid [7352] ×2 + 0.87sINFOros2-7process started with pid [7353] ×2 + 0.87sINFOros2-8process started with pid [7354] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971785 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF configuration loaded from /tmp/moveit-webrtc-_ajqtcxz/mediamtx.yml ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-09-04 17:22:15.999] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOwaypoint_manager_node[2026-09-04 17:22:16.346] [moveit_pro_license] [info] ×2 + 2.12sINFOwaypoint_manager_node************************************************* ×4 + 2.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.17sINFOmove_group ×4 + 2.17sINFOmove_group[92mYou can start planning now![0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757617 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757617 ms (missed cycles : 2).[0m ×2 + 2.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.36sINFOobjective_server_node[2026-09-04 17:22:17.586] [moveit_pro_license] [info] ×2 + 3.36sINFOobjective_server_node************************************************* ×4 + 3.36sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.50sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.86sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.86sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.88sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.14sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.14sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.14sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.14sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.14sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.14sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.14sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.14sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.14sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.28sINFOcomponent_container_mt[2026-09-04 17:22:18.511] [moveit_pro_license] [info] ×2 + 4.28sINFOcomponent_container_mt************************************************* ×4 + 4.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.34sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.34sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.34sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 4.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 4.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.53sINFOros2_control_node[2026-09-04 17:22:18.755] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_node[2026-09-04 17:22:18.755] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.55sINFOros2_control_node[2026-09-04 17:22:18.779] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.55sINFOros2_control_node[2026-09-04 17:22:18.779] [info] Controller state will be published at 50 Hz. ×2 + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.56sINFOros2_control_node[2026-09-04 17:22:18.788] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.68sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.68sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 4.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 4.85sINFOros2-6process has finished cleanly [pid 7352] ×2 + 4.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.85sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.85sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.85sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.86sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801966 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801966 ms (missed cycles : 2).[0m ×2 + 5.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.14sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.14sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 5.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 5.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.17sINFOros2-5process has finished cleanly [pid 7351] ×2 + 5.19sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.19sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.20sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.20sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.53sINFOros2-3process has finished cleanly [pid 7338] ×2 + 5.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 5.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 5.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.65sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.65sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.68sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 5.68sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.96sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.96sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.99sINFOros2-7process has finished cleanly [pid 7353] ×2 + 6.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 6.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 6.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.08sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 6.08sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.41sINFOobjective_server_nodecaller: ×10 + 6.41sINFOobjective_server_nodetype: 0 ×10 + 6.41sINFOobjective_server_nodename: "" ×10 + 6.41sINFOobjective_server_nodeinstance_id: "" ×10 + 6.41sINFOobjective_server_node ×10 + 6.44sINFOros2-8process has finished cleanly [pid 7354] ×2 + 6.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 6.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 6.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 6.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 6.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 6.84sINFOros2-4process has finished cleanly [pid 7350] ×2 + 6.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.86sINFOforce_torque_sensor_broadcasterconfigure successful + 6.86sINFOros2_control_nodeconfigure successful[0m ×2 + 6.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.17sINFOros2-2process has finished cleanly [pid 7337] ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 8.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 8.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 8.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 9.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 10.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 10.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 378 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.08sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.41sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 3.95sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.99sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.40sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.50sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 7.50sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 466 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.12sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.12sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.45sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.45sINFOobjective_server_nodecaller: ×14 + 0.45sINFOobjective_server_nodetype: 0 ×14 + 0.45sINFOobjective_server_nodename: "" ×14 + 0.45sINFOobjective_server_nodeinstance_id: "" ×14 + 0.45sINFOobjective_server_node ×14 + 0.48sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.85sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.88sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOforce_torque_sensor_broadcasterconfigure successful + 0.90sINFOros2_control_nodeconfigure successful[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.28sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 4.76sWARNros2_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 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 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/2026-09-04-17-22-13-856375-7592f4396b4a-7288 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971785 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7336] ×2 + 0.85sINFOmove_group-9process started with pid [7377] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7378] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7379] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7386] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7387] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7390] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7391] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7392] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7393] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7394] ×2 + 0.85sINFOweb_bridge-19process started with pid [7395] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7463] ×2 + 0.85sINFOvideo_server-21process started with pid [7471] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7472] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7473] ×2 + 0.87sINFOros2-2process started with pid [7337] ×2 + 0.87sINFOros2-3process started with pid [7338] ×2 + 0.87sINFOros2-4process started with pid [7350] ×2 + 0.87sINFOros2-5process started with pid [7351] ×2 + 0.87sINFOros2-6process started with pid [7352] ×2 + 0.87sINFOros2-7process started with pid [7353] ×2 + 0.87sINFOros2-8process started with pid [7354] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971785 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF configuration loaded from /tmp/moveit-webrtc-_ajqtcxz/mediamtx.yml ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.34sINFOvideo_server2026/09/04 17:22:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-09-04 17:22:15.999] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOwaypoint_manager_node[2026-09-04 17:22:16.346] [moveit_pro_license] [info] ×2 + 2.12sINFOwaypoint_manager_node************************************************* ×4 + 2.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.17sINFOmove_group ×4 + 2.17sINFOmove_group[92mYou can start planning now![0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757617 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757617 ms (missed cycles : 2).[0m ×2 + 2.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.36sINFOobjective_server_node[2026-09-04 17:22:17.586] [moveit_pro_license] [info] ×2 + 3.36sINFOobjective_server_node************************************************* ×4 + 3.36sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.50sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.91sINFOobjective_server_nodecaller: ×14 + 0.91sINFOobjective_server_nodetype: 0 ×14 + 0.91sINFOobjective_server_nodename: "" ×14 + 0.91sINFOobjective_server_nodeinstance_id: "" ×14 + 0.91sINFOobjective_server_node ×14 + 0.94sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.74sWARNros2_control_nodeCamera render tick took 1.85 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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 5.22sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.91sINFOobjective_server_nodecaller: ×14 + 0.91sINFOobjective_server_nodetype: 0 ×14 + 0.91sINFOobjective_server_nodename: "" ×14 + 0.91sINFOobjective_server_nodeinstance_id: "" ×14 + 0.91sINFOobjective_server_node ×14 + 0.94sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.74sWARNros2_control_nodeCamera render tick took 1.85 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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 5.22sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.908] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-04 17:22:19.909] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.91sINFOobjective_server_nodecaller: ×14 + 0.91sINFOobjective_server_nodetype: 0 ×14 + 0.91sINFOobjective_server_nodename: "" ×14 + 0.91sINFOobjective_server_nodeinstance_id: "" ×14 + 0.91sINFOobjective_server_node ×14 + 0.94sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 1.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.74sWARNros2_control_nodeCamera render tick took 1.85 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 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 5.22sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 466 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.12sINFOros2_control_node[2026-09-04 17:22:20.312] [info] Controller state will be published at 20 Hz. ×2 + 0.12sINFOros2_control_node[2026-09-04 17:22:20.313] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.45sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.45sINFOobjective_server_nodecaller: ×14 + 0.45sINFOobjective_server_nodetype: 0 ×14 + 0.45sINFOobjective_server_nodename: "" ×14 + 0.45sINFOobjective_server_nodeinstance_id: "" ×14 + 0.45sINFOobjective_server_node ×14 + 0.48sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788542540.70633960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788542540.71660924 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.85sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.88sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOforce_torque_sensor_broadcasterconfigure successful + 0.90sINFOros2_control_nodeconfigure successful[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 2.28sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 4.76sWARNros2_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 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 362 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361367 ms (missed cycles : 5).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iyb5wei2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_enbxhz97 --params-file /tmp/launch_params_l8668pu0 [0m ×2 + 0.08sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788542541.30845714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 3.95sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.99sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917448 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917448 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340962 ms (missed cycles : 3).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788542542.41863585 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788542543.03750110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788542543.09771299 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280238 ms (missed cycles : 4).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788542543.75829673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788542543.76840353 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788542544.36367011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174183 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788542544.51419687 seconds ×3 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788542545.19428420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788542545.24441361 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709551 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788542545.84425354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.3121e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-04 17:22:25.980] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806751 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298036 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 17:22:28.488] [info] Accepted new action goal ×2 | ||||