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 · 19560 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788550014.47986197 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9).[0m ×2 + 3.64sINFOobjective_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: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788550015.08048368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.88sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.15sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2).[0m ×2 + 7.36sINFOjoint_trajectory_controllerReceived new action goal ×3216 + 7.36sINFOjoint_trajectory_controllerAccepted new action goal ×3216 + 7.36sINFOros2_control_nodeReceived new action goal[0m ×6432 + 7.36sINFOros2_control_nodeAccepted new action goal[0m ×6432 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675918 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675918 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216539 ms (missed cycles : 5). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216539 ms (missed cycles : 5).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179502 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179502 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251480 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251480 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323961 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323961 ms (missed cycles : 2).[0m ×2 + 12.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.21sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.21sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.21sWARNros2_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 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842986 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842986 ms (missed cycles : 2).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624401 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624401 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922807 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922807 ms (missed cycles : 4).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578644 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578644 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705817 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705817 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130818 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130818 ms (missed cycles : 2).[0m ×2 + 20.07sWARNros2_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 ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803436 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803436 ms (missed cycles : 2).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298794 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298794 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686990 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686990 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954203 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954203 ms (missed cycles : 2).[0m ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984429 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984429 ms (missed cycles : 3).[0m ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265608 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265608 ms (missed cycles : 2).[0m ×2 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048133 ms (missed cycles : 2). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048133 ms (missed cycles : 2).[0m ×2 + 27.15sWARNros2_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 + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087848 ms (missed cycles : 2). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087848 ms (missed cycles : 2).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356626 ms (missed cycles : 3). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356626 ms (missed cycles : 3).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221113 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221113 ms (missed cycles : 2).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.959066 ms (missed cycles : 11). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.959066 ms (missed cycles : 11).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569504 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569504 ms (missed cycles : 2).[0m ×2 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766814 ms (missed cycles : 2). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766814 ms (missed cycles : 2).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974539 ms (missed cycles : 5). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974539 ms (missed cycles : 5).[0m ×2 + 34.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809369 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809369 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807865 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807865 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361654 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361654 ms (missed cycles : 2).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439016 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439016 ms (missed cycles : 2).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712329 ms (missed cycles : 2). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712329 ms (missed cycles : 2).[0m ×2 + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.670974 ms (missed cycles : 8). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.670974 ms (missed cycles : 8).[0m ×2 + 41.12sWARNros2_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 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278354 ms (missed cycles : 4). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278354 ms (missed cycles : 4).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485174 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485174 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200369 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200369 ms (missed cycles : 2).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121908 ms (missed cycles : 2). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121908 ms (missed cycles : 2).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813368 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813368 ms (missed cycles : 2).[0m ×2 + 46.22sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838487 ms (missed cycles : 2). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838487 ms (missed cycles : 2).[0m ×2 + 47.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550058.88491607 seconds ×3 + 47.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145163 ms (missed cycles : 2). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145163 ms (missed cycles : 2).[0m ×2 + 48.03sWARNros2_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 + 48.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 48.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788550059.51219630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.30sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 48.31sINFOros2_control_node[2026-09-04 19:27:39.685] [info] Received new action goal ×2 + 48.31sINFOros2_control_node[2026-09-04 19:27:39.685] [info] Accepted new action goal ×2 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743643 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743643 ms (missed cycles : 2).[0m ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789270 ms (missed cycles : 2). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789270 ms (missed cycles : 2).[0m ×2 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802043 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802043 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_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 ×8 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-04 19:26:04.421] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-04 19:26:04.421] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171288 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171288 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934681 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934681 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.286213 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.286213 ms (missed cycles : 5).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-09-04 19:26:07.690] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-09-04 19:26:07.690] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.974585 ms (missed cycles : 6). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.974585 ms (missed cycles : 6).[0m ×2 + 10.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776441 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776441 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721293 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721293 ms (missed cycles : 2).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-09-04 19:26:10.726] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-09-04 19:26:10.726] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.294774 ms (missed cycles : 8). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.294774 ms (missed cycles : 8).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457938 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457938 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738985 ms (missed cycles : 6). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738985 ms (missed cycles : 6).[0m ×2 + 16.34sINFOobjective_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 + 16.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710107 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710107 ms (missed cycles : 2).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024462 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024462 ms (missed cycles : 2).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496028 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496028 ms (missed cycles : 2).[0m ×2 + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720944 ms (missed cycles : 3). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720944 ms (missed cycles : 3).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914988 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914988 ms (missed cycles : 3).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587103 ms (missed cycles : 4). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587103 ms (missed cycles : 4).[0m ×2 + 23.03sWARNros2_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 + 23.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.11sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.11sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.11sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.11sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957385 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957385 ms (missed cycles : 3).[0m ×2 + 24.04sINFOros2_control_node[2026-09-04 19:26:21.379] [info] Received new action goal ×2 + 24.04sINFOros2_control_node[2026-09-04 19:26:21.379] [info] Accepted new action goal ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301985 ms (missed cycles : 2). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301985 ms (missed cycles : 2).[0m ×2 + 25.21sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.22sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277133 ms (missed cycles : 5). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277133 ms (missed cycles : 5).[0m ×2 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 25.50sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.55sINFOros2_control_node[2026-09-04 19:26:22.886] [info] Received new action goal ×2 + 25.55sINFOros2_control_node[2026-09-04 19:26:22.886] [info] Accepted new action goal ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855096 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855096 ms (missed cycles : 2).[0m ×2 + 27.68sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 27.69sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.70sINFOros2_control_node[2026-09-04 19:26:25.040] [info] Received new action goal ×2 + 27.70sINFOros2_control_node[2026-09-04 19:26:25.040] [info] Accepted new action goal ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383583 ms (missed cycles : 4). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383583 ms (missed cycles : 4).[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966236 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966236 ms (missed cycles : 2).[0m ×2 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764832 ms (missed cycles : 2). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764832 ms (missed cycles : 2).[0m ×2 + 30.84sINFOros2_control_node[2026-09-04 19:26:28.180] [info] Received new action goal ×2 + 30.84sINFOros2_control_node[2026-09-04 19:26:28.180] [info] Accepted new action goal ×2 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489245 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489245 ms (missed cycles : 2).[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284894 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284894 ms (missed cycles : 2).[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.993565 ms (missed cycles : 6). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.993565 ms (missed cycles : 6).[0m ×2 + 33.43sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 33.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.49sINFOros2_control_node[2026-09-04 19:26:30.824] [info] Received new action goal ×2 + 33.49sINFOros2_control_node[2026-09-04 19:26:30.824] [info] Accepted new action goal ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866754 ms (missed cycles : 2). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866754 ms (missed cycles : 2).[0m ×2 + 35.08sWARNros2_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 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563094 ms (missed cycles : 5). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563094 ms (missed cycles : 5).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106452 ms (missed cycles : 5). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106452 ms (missed cycles : 5).[0m ×2 + 37.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776942 ms (missed cycles : 2). + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776942 ms (missed cycles : 2).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242640 ms (missed cycles : 2). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242640 ms (missed cycles : 2).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025587 ms (missed cycles : 2). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025587 ms (missed cycles : 2).[0m ×2 + 40.26sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986867 ms (missed cycles : 5). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986867 ms (missed cycles : 5).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797812 ms (missed cycles : 5). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797812 ms (missed cycles : 5).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570104 ms (missed cycles : 2). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570104 ms (missed cycles : 2).[0m ×2 + 44.15sINFOros2_control_node[2026-09-04 19:26:41.490] [info] Received new action goal ×2 + 44.15sINFOros2_control_node[2026-09-04 19:26:41.490] [info] Accepted new action goal ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201622 ms (missed cycles : 4). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201622 ms (missed cycles : 4).[0m ×2 + 45.31sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788550002.64637709 seconds ×3 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981424 ms (missed cycles : 2). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981424 ms (missed cycles : 2).[0m ×2 + 45.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.91sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.10sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788550003.43968844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072912 ms (missed cycles : 4). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072912 ms (missed cycles : 4).[0m ×2 + 47.37sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 47.39sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.41sINFOros2_control_node[2026-09-04 19:26:44.744] [info] Received new action goal ×2 + 47.41sINFOros2_control_node[2026-09-04 19:26:44.744] [info] Accepted new action goal ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2).[0m ×2 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106968 ms (missed cycles : 4). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106968 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 | 92 warnings · 13362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2194 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2194 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4388 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4388 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121908 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121908 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813368 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813368 ms (missed cycles : 2).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838487 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838487 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550058.88491607 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145163 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145163 ms (missed cycles : 2).[0m ×2 + 3.80sWARNros2_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 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788550059.51219630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.08sINFOros2_control_node[2026-09-04 19:27:39.685] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 19:27:39.685] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743643 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743643 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789270 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789270 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802043 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802043 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432074 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432074 ms (missed cycles : 4).[0m ×2 + 8.85sWARNros2_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 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776055 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776055 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942697 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942697 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361051 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361051 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736266 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736266 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869857 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869857 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109822 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109822 ms (missed cycles : 2).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869705 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869705 ms (missed cycles : 2).[0m ×2 + 15.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221096 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221096 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160573 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160573 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205400 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205400 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328906 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328906 ms (missed cycles : 2).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671671 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671671 ms (missed cycles : 2).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724910 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724910 ms (missed cycles : 2).[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 22.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 25.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 26.03sINFOobjective_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: ""
+ 26.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.34sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 26.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.36sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 26.36sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 13.1s | 3 errors · 60 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788549896.50102258 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157844 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157844 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318369 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318369 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.055415 ms (missed cycles : 8). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.055415 ms (missed cycles : 8).[0m ×2 + 9.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.55sINFOobjective_server_nodeFound path in 1 iterations (0.00259889 s). ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574893 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574893 ms (missed cycles : 3).[0m ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.78sINFOros2_control_node[2026-09-04 19:25:05.009] [info] Received new action goal ×2 + 9.78sINFOros2_control_node[2026-09-04 19:25:05.009] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351047 ms (missed cycles : 5). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351047 ms (missed cycles : 5).[0m ×2 + 10.89sWARNros2_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 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427450 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427450 ms (missed cycles : 2).[0m ×2 + 12.08sINFOros2_control_node[2026-09-04 19:25:07.312] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-09-04 19:25:07.312] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 13.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.89sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 13.89sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 15.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.72sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 16.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.53sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.64sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 16.64sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.66sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 16.66sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 16.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506165 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506165 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 1 iterations (0.00341987 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.56sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.18sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sERRORobjective_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: 1788549944.03099036 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549944.81948066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2).[0m ×2 + 6.69sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 ms (missed cycles : 3).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248171 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248171 ms (missed cycles : 3).[0m ×2 + 8.48sWARNros2_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 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583520 ms (missed cycles : 4). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583520 ms (missed cycles : 4).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930389 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930389 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760891 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760891 ms (missed cycles : 3).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3).[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2).[0m ×2 + 14.52sWARNros2_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 + 15.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549956.06903386 seconds ×3 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5).[0m ×2 + 15.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549956.73694777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549956.79707527 seconds ×3 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2).[0m ×2 + 16.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.68sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 16.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.69sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 16.69sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 18.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797812 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797812 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570104 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570104 ms (missed cycles : 2).[0m ×2 + 1.02sINFOobjective_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 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.90sINFOros2_control_node[2026-09-04 19:26:41.490] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-09-04 19:26:41.490] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201622 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201622 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788550002.64637709 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981424 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981424 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788550003.43968844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072912 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072912 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.16sINFOros2_control_node[2026-09-04 19:26:44.744] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-04 19:26:44.744] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879358 ms (missed cycles : 2).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106968 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106968 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510827 ms (missed cycles : 6). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510827 ms (missed cycles : 6).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693095 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693095 ms (missed cycles : 2).[0m ×2 + 8.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.87sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.87sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.87sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.283469 ms (missed cycles : 7). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.283469 ms (missed cycles : 7).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909912 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909912 ms (missed cycles : 2).[0m ×2 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.29sINFOros2_control_node[2026-09-04 19:26:50.874] [info] Received new action goal ×2 + 11.29sINFOros2_control_node[2026-09-04 19:26:50.874] [info] Accepted new action goal ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8).[0m ×2 + 12.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2).[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788550014.47986197 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9).[0m ×2 + 15.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.43sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788550015.08048368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.67sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3).[0m ×2 + 16.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2).[0m ×2 + 17.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244575 ms (missed cycles : 7). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244575 ms (missed cycles : 7).[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788549930.01108265 seconds ×3 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450176 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450176 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295418 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295418 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010838 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010838 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788549933.52699113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-09-04 19:25:33.742] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-04 19:25:33.742] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889851 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889851 ms (missed cycles : 6).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113657 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113657 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912911 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912911 ms (missed cycles : 2).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (6.54e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 7.89sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 1 iterations (0.00319761 s). ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864867 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864867 ms (missed cycles : 3).[0m ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 2 iterations (0.0055948 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 1 iterations (0.00338623 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.74sINFOros2_control_node[2026-09-04 19:25:38.447] [info] Received new action goal ×2 + 8.74sINFOros2_control_node[2026-09-04 19:25:38.447] [info] Accepted new action goal ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995685 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995685 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844812 ms (missed cycles : 5). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844812 ms (missed cycles : 5).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506165 ms (missed cycles : 6). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506165 ms (missed cycles : 6).[0m ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.41sINFOobjective_server_nodeFound path in 1 iterations (0.00341987 s). ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.66sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Accepted new action goal ×2 + 12.07sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Accepted new action goal ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2).[0m ×2 + 13.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 14.28sINFOobjective_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 + 14.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.32sERRORobjective_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: 1788549944.03099036 seconds ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3).[0m ×2 + 15.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.00sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549944.81948066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.28sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2).[0m ×2 + 17.80sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Received new action goal ×2 + 17.80sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Accepted new action goal ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 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 2.001511 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.32sWARNros2_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 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.65sINFOobjective_server_nodecaller: ×12 + 0.65sINFOobjective_server_nodetype: 0 ×12 + 0.65sINFOobjective_server_nodename: "" ×12 + 0.65sINFOobjective_server_nodeinstance_id: "" ×12 + 0.65sINFOobjective_server_node ×12 + 0.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.69sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.20sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748762 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748762 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690383 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690383 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419241 ms (missed cycles : 6). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419241 ms (missed cycles : 6).[0m ×2 + 9.70sWARNros2_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 ×4 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857551 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857551 ms (missed cycles : 4).[0m ×2 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 10.01sINFOros2_control_node[2026-09-04 19:24:41.485] [info] Received new action goal ×2 + 10.01sINFOros2_control_node[2026-09-04 19:24:41.485] [info] Accepted new action goal ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405785 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405785 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410794 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410794 ms (missed cycles : 5).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534861 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534861 ms (missed cycles : 3).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.34sINFOros2_control_node[2026-09-04 19:24:44.814] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-04 19:24:44.814] [info] Accepted new action goal ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128993 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128993 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_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 + 14.03sINFOros2_control_node[2026-09-04 19:24:45.500] [info] Got request to cancel active goal. ×2 + 14.03sINFOros2_control_node[2026-09-04 19:24:45.500] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1788549885.51703930 seconds ×3 + 14.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.58sINFOobjective_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: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788549886.12039661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.85sINFOros2_control_node[2026-09-04 19:24:46.324] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-09-04 19:24:46.324] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027141 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027141 ms (missed cycles : 2).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587192 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587192 ms (missed cycles : 4).[0m ×2 + 17.11sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 17.12sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.14sINFOros2_control_node[2026-09-04 19:24:48.609] [info] Received new action goal ×2 + 17.14sINFOros2_control_node[2026-09-04 19:24:48.609] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605331 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605331 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 58 errors · 39 warnings · 359 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550140.60245728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550141.81258965 seconds ×3 + 4.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646107 ms (missed cycles : 6). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646107 ms (missed cycles : 6).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746851 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746851 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736224 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736224 ms (missed cycles : 3).[0m ×2 + 9.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.340791 ms (missed cycles : 6). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.340791 ms (missed cycles : 6).[0m ×2 + 10.16sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.18sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.18sERRORweb_video_auth_proxy-23process has died [pid 7466, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.18sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.19sERRORweb_bridge_auth_proxy-22process has died [pid 7465, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.19sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.19sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.20sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.20sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.20sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.21sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.22sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.22sINFOvideo_server-21process has finished cleanly [pid 7464] ×2 + 10.22sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.23sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.23sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.24sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.24sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.25sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.25sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.25sINFOvideo_server2026/09/04 19:29:07 INF shutting down gracefully ×2 + 10.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.25sINFOcontroller_managerShutdown request received.... + 10.25sINFOvideo_server2026/09/04 19:29:07 INF [WebRTC] closing ×2 + 10.25sINFOvideo_server2026/09/04 19:29:07 INF [RTSP] closing ×2 + 10.25sINFOvideo_server2026/09/04 19:29:07 INF waiting for running hooks ×2 + 10.25sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.25sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.25sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.25sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.25sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.25sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.25sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.25sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.25sERRORmove_groupStack trace (most recent call last) in thread 7823: ×2 + 10.25sINFOcontroller_managerShutting down the controller manager. + 10.26sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.26sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.26sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.26sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.26sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.26sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.26sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.26sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.26sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.26sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.26sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.26sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe67ef09a63, in __clone ×2 + 10.26sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.26sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe67ee7caa3, in ×2 + 10.26sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe67f10edb3, in ×2 + 10.26sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fe67f873a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.26sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe67f4a0620, in rclcpp::Rate::sleep() ×2 + 10.26sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe67f3e2d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.26sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe67f3a4087, in ×2 + 10.26sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe67f0dd390, in __cxa_throw ×2 + 10.26sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe67f0c7a54, in std::terminate() ×2 + 10.26sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe67f0dd0d9, in ×2 + 10.26sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe67f0c7ff4, in ×2 + 10.26sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe67ee088fe, in abort ×2 + 10.26sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe67ee2527d, in raise ×2 + 10.26sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe67ee7eb2c, in pthread_kill ×2 + 10.26sERRORmove_groupAborted (Signal sent by tkill() 7377 0) ×2 + 10.27sERRORmove_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_hvb6zual --params-file /tmp/launch_params_ir12ear2 --params-file /tmp/launch_params_4x40jb8j --params-file /tmp/launch_params_4hmiukz4 --params-file /tmp/launch_params__3909qvk --params-file /tmp/launch_params__cwqj8x2']. ×2 + 10.46sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.46sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.46sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.24sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7463] ×2 + 11.24sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.26sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7381] ×2 + 11.27sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7380] ×2 + 11.31sINFOexecute_objective_bridge-17process has finished cleanly [pid 7385] ×2 + 11.31sINFOui_teleop_bridge-18process has finished cleanly [pid 7386] ×2 + 11.31sINFOcomponent_container_mt-16process has finished cleanly [pid 7384] ×2 + 11.32sINFOwaypoint_manager_node-11process has finished cleanly [pid 7379] ×2 + 11.32sINFOparameter_manager_node-10process has finished cleanly [pid 7378] ×2 + 11.39sINFOobjective_server_node[0;m[2026-09-04 19:29:08.335] [moveit_pro_license] [critical] ×2 + 11.39sINFOobjective_server_node************************************************* ×4 + 11.39sINFOobjective_server_node* MoveIt Pro License ×2 + 11.39sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.52sINFOobjective_server_node_main-14process has finished cleanly [pid 7382] ×2 + 11.52sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.40sINFOcomponent_container_mt-15process has finished cleanly [pid 7383] ×2 + 12.60sINFOweb_bridge-19process has finished cleanly [pid 7387] ×2 + 12.60sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.89sINFOros2_control_node-1process has finished cleanly [pid 7336] ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 55 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788550113.40654659 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.71sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.71sINFOobjective_server_nodecaller: ×8 + 3.71sINFOobjective_server_nodetype: 0 ×8 + 3.71sINFOobjective_server_nodename: "" ×8 + 3.71sINFOobjective_server_nodeinstance_id: "" ×8 + 3.71sINFOobjective_server_node ×8 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788550114.06172395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3).[0m ×2 + 4.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5).[0m ×2 + 7.30sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540059 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540059 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.998353 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.998353 ms (missed cycles : 5).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852855 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852855 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 11.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sERRORobjective_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: 1788550124.40217161 seconds ×3 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 15.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_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 + 15.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 15.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 16.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.16sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 16.16sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410794 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410794 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534861 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534861 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.48sINFOros2_control_node[2026-09-04 19:24:44.814] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-09-04 19:24:44.814] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128993 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128993 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.17sINFOros2_control_node[2026-09-04 19:24:45.500] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-09-04 19:24:45.500] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1788549885.51703930 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOobjective_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: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.72sINFOobjective_server_nodecaller: ×6 + 2.72sINFOobjective_server_nodetype: 0 ×6 + 2.72sINFOobjective_server_nodename: "" ×6 + 2.72sINFOobjective_server_nodeinstance_id: "" ×6 + 2.72sINFOobjective_server_node ×6 + 2.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788549886.12039661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-04 19:24:46.324] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-04 19:24:46.324] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027141 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027141 ms (missed cycles : 2).[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587192 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587192 ms (missed cycles : 4).[0m ×2 + 5.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.27sINFOros2_control_node[2026-09-04 19:24:48.609] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-04 19:24:48.609] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605331 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212499 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212499 ms (missed cycles : 5).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153880 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153880 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827878 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827878 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002140 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002140 ms (missed cycles : 5).[0m ×2 + 10.00sWARNros2_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 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 13.16sERRORobjective_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: 1788549896.50102258 seconds ×3 + 13.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.80sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.79sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 16.12sWARNros2_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 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821004 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821004 ms (missed cycles : 2).[0m ×2 + 7.63sWARNros2_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 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873076 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873076 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950619 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950619 ms (missed cycles : 3).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765327 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765327 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2).[0m ×2 + 13.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5).[0m ×2 + 14.24sINFOobjective_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 + 14.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550102.90099549 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788550103.49344230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.16sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Accepted new action goal ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 1 iterations (0.00305212 s). ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.687530 ms (missed cycles : 9). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.687530 ms (missed cycles : 9).[0m ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 2 iterations (0.00571217 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 1 iterations (0.00338485 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.67sINFOros2_control_node[2026-09-04 19:25:27.446] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-09-04 19:25:27.446] [info] Accepted new action goal ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374274 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374274 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181398 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181398 ms (missed cycles : 5).[0m ×2 + 10.93sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244575 ms (missed cycles : 7). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.244575 ms (missed cycles : 7).[0m ×2 + 11.20sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.20sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.20sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788549930.01108265 seconds ×3 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450176 ms (missed cycles : 5). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450176 ms (missed cycles : 5).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295418 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295418 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010838 ms (missed cycles : 5). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010838 ms (missed cycles : 5).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.75sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788549933.52699113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 14.97sINFOros2_control_node[2026-09-04 19:25:33.742] [info] Received new action goal ×2 + 14.97sINFOros2_control_node[2026-09-04 19:25:33.742] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889851 ms (missed cycles : 6). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.889851 ms (missed cycles : 6).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113657 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113657 ms (missed cycles : 3).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912911 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912911 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2206 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091128 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091128 ms (missed cycles : 5).[0m ×2 + 7.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 7.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.69sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 1 iterations (0.00303462 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.36sINFOros2_control_node[2026-09-04 19:28:06.086] [info] Received new action goal ×2 + 8.36sINFOros2_control_node[2026-09-04 19:28:06.086] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986958 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986958 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002261 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002261 ms (missed cycles : 2).[0m ×2 + 10.66sINFOros2_control_node[2026-09-04 19:28:08.388] [info] Received new action goal ×2 + 10.66sINFOros2_control_node[2026-09-04 19:28:08.388] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 12.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.42sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 12.42sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 13.47sWARNros2_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 + 13.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 14.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 16.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.90sINFOobjective_server_nodecaller: ×6 + 2.90sINFOobjective_server_nodetype: 0 ×6 + 2.90sINFOobjective_server_nodename: "" ×6 + 2.90sINFOobjective_server_nodeinstance_id: "" ×6 + 2.90sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.23sINFOros2_control_node[2026-09-04 19:25:15.287] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-09-04 19:25:15.287] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361161 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361161 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957016 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957016 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.58sINFOros2_control_node[2026-09-04 19:25:17.634] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-09-04 19:25:17.634] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801270 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801270 ms (missed cycles : 2).[0m ×2 + 10.15sWARNros2_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 ×4 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 11.93sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 13.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 13.85sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 13.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788549921.91851473 seconds ×3 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 14.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.70sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 55 warnings · 363 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.03sERRORobjective_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: 1788550124.40217161 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.63sINFOobjective_server_nodecaller: ×12 + 1.63sINFOobjective_server_nodetype: 0 ×12 + 1.63sINFOobjective_server_nodename: "" ×12 + 1.63sINFOobjective_server_nodeinstance_id: "" ×12 + 1.63sINFOobjective_server_node ×12 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_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 + 2.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580176 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580176 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.41sINFOros2_control_node[2026-09-04 19:28:49.783] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-09-04 19:28:49.783] [info] Accepted new action goal ×2 + 6.41sINFOros2_control_node[2026-09-04 19:28:49.783] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727985 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727985 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096629 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096629 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858868 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858868 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2).[0m ×2 + 11.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 13.03sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 13.03sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 13.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550136.40450406 seconds ×3 + 13.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 15.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 15.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.90sINFOobjective_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 + 15.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 16.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_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: 1788550102.90099549 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788550103.49344230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332573 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332573 ms (missed cycles : 4).[0m ×2 + 7.40sINFOros2_control_node[2026-09-04 19:28:27.821] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-09-04 19:28:27.821] [info] Accepted new action goal ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021249 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021249 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041693 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041693 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4).[0m ×2 + 12.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788550113.40654659 seconds ×3 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2).[0m ×2 + 13.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.58sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.64sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788550114.06172395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 13.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.77sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Received new action goal ×2 + 13.77sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Accepted new action goal ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3).[0m ×2 + 14.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3).[0m ×2 + 15.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549956.06903386 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.70sINFOobjective_server_nodecaller: ×6 + 2.70sINFOobjective_server_nodetype: 0 ×6 + 2.70sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549956.73694777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549956.79707527 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.52sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.24sINFOobjective_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 + 7.25sINFOobjective_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 + 7.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 7.57sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 7.57sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.3s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788550136.40450406 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.00sINFOobjective_server_nodecaller: ×8 + 3.00sINFOobjective_server_nodetype: 0 ×8 + 3.00sINFOobjective_server_nodename: "" ×8 + 3.00sINFOobjective_server_nodeinstance_id: "" ×8 + 3.00sINFOobjective_server_node ×8 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550140.60245728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550141.81258965 seconds ×3 + 7.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.8s | 36 warnings · 711 info |
+ 0.00sINFOobjective_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 + 0.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.15sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.15sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.67sINFOcomponent_container_mt[2026-09-04 19:24:27.550] [moveit_pro_license] [info] ×2 + 0.67sINFOcomponent_container_mt************************************************* ×4 + 0.67sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.69sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.69sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.70sWARNros2_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 + 0.70sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.70sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.70sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.70sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.70sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.70sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.70sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.70sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.70sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.70sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.70sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.70sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.70sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759803 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759803 ms (missed cycles : 2).[0m ×2 + 0.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.82sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.82sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.82sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.15sINFOros2-5process has finished cleanly [pid 7351] ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.31sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.31sINFOros2_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 + 1.31sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.31sWARNros2_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 + 1.31sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOros2_control_node[2026-09-04 19:24:28.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.31sINFOros2_control_node[2026-09-04 19:24:28.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.33sINFOros2_control_node[2026-09-04 19:24:28.214] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.33sINFOros2_control_node[2026-09-04 19:24:28.214] [info] Controller state will be published at 50 Hz. ×2 + 1.34sINFOros2_control_node[2026-09-04 19:24:28.219] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.56sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.56sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.56sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.59sINFOros2-6process has finished cleanly [pid 7352] ×2 + 1.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.66sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.68sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.69sINFOros2_control_node[2026-09-04 19:24:28.569] [info] Controller state will be published at 20 Hz. ×2 + 1.69sINFOros2_control_node[2026-09-04 19:24:28.569] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 2.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 2.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.06sINFOros2-8process has finished cleanly [pid 7354] ×2 + 2.08sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.08sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.08sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.10sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.10sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.44sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.44sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.44sINFOros2-3process has finished cleanly [pid 7338] ×2 + 2.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 2.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 2.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.49sINFOforce_torque_sensor_broadcasterconfigure successful + 2.49sINFOros2_control_nodeconfigure successful[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.85sINFOobjective_server_nodecaller: ×14 + 2.85sINFOobjective_server_nodetype: 0 ×14 + 2.85sINFOobjective_server_nodename: "" ×14 + 2.85sINFOobjective_server_nodeinstance_id: "" ×14 + 2.85sINFOobjective_server_node ×14 + 2.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.89sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.90sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 2.93sINFOros2-2process has finished cleanly [pid 7337] ×2 + 2.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 2.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 3.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 3.03sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 3.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 3.38sINFOros2-7process has finished cleanly [pid 7353] ×2 + 3.40sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.40sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOros2-4process has finished cleanly [pid 7350] ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 4.92sWARNros2_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 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 6.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 6.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 7.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 7.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 8.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_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 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.28sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2).[0m ×2 + 2.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549956.06903386 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549956.73694777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549956.79707527 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 7.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 19:25:07.312] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 19:25:07.312] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.45sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 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 6.383317 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[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: 1788549896.50102258 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 1.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 1.05sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.50sINFOros2-7process has finished cleanly [pid 7353] ×2 + 1.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 3.03sWARNros2_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_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 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.83sINFOobjective_server_nodecaller: ×6 + 2.83sINFOobjective_server_nodetype: 0 ×6 + 2.83sINFOobjective_server_nodename: "" ×6 + 2.83sINFOobjective_server_nodeinstance_id: "" ×6 + 2.83sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.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 9.269309 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 0.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 0.27sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 0.28sERRORobjective_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: 1788550136.40450406 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.82sINFOobjective_server_nodecaller: ×8 + 0.82sINFOobjective_server_nodetype: 0 ×8 + 0.82sINFOobjective_server_nodename: "" ×8 + 0.82sINFOobjective_server_nodeinstance_id: "" ×8 + 0.82sINFOobjective_server_node ×8 + 0.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.15sINFOobjective_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 + 3.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550140.60245728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550141.81258965 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6).[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 9.269309 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 0.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 0.27sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 0.28sERRORobjective_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: 1788550136.40450406 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.82sINFOobjective_server_nodecaller: ×8 + 0.82sINFOobjective_server_nodetype: 0 ×8 + 0.82sINFOobjective_server_nodename: "" ×8 + 0.82sINFOobjective_server_nodeinstance_id: "" ×8 + 0.82sINFOobjective_server_node ×8 + 0.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.15sINFOobjective_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 + 3.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014371 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788550140.60245728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442486 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788550141.81258965 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274264 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2096 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[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: 1788549896.50102258 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383317 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[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: 1788549896.50102258 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 4.209117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788549896.50102258 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[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 4.209117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788549896.50102258 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[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 4.209117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788549896.50102258 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[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 4.209117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209117 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677599 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788549896.50102258 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788549897.19066143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788549897.28076386 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108737 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788549897.91668630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-09-04 19:24:58.120] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008927 ms (missed cycles : 5).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106291 ms (missed cycles : 5).[0m ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007907 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282206 ms (missed cycles : 3).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-09-04 19:25:09.124] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839912 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146386 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788549910.41044283 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788549911.03060579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788549911.12074065 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178825 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788549911.76248169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-04 19:25:11.887] [info] Accepted new action goal ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652635 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827982 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.453161 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670515 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-09-04 19:25:19.987] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584932 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_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 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Got request to cancel active goal. ×2 + 3.13sINFOros2_control_node[2026-09-04 19:25:21.902] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1788549921.91851473 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617847 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788549922.55873537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-04 19:25:22.752] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680346 ms (missed cycles : 3).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870910 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410660 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 9.506165 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.506165 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 1 iterations (0.00341987 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-04 19:25:41.374] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-04 19:25:41.776] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806109 ms (missed cycles : 3).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382846 ms (missed cycles : 2).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.18sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.22sERRORobjective_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: 1788549944.03099036 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398872 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788549944.81948066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 19:25:44.993] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737552 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302618 ms (missed cycles : 2).[0m ×2 + 6.69sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-04 19:25:47.507] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577526 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127600 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665763 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725140 ms (missed cycles : 2).[0m ×2 + 2.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788549956.06903386 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193606 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788549956.73694777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788549956.79707527 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828743 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788549957.39015102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 19:25:57.504] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194477 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788549959.51028752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856385 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788549961.14612341 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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958774 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-04 19:26:01.553] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677987 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508361 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.247314 ms (missed cycles : 8).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184301 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982447 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788550014.47986197 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.406403 ms (missed cycles : 9).[0m ×2 + 3.64sINFOobjective_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: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788550015.08048368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.88sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 19:26:55.255] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595491 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_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 + 5.15sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599545 ms (missed cycles : 2).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971748 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2096 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2096 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2096 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2096 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145143 ms (missed cycles : 2).[0m ×2 + 0.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324477 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771358 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164472 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788550081.01785088 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788550081.75832200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:28:01.960] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994481 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730150 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804850 ms (missed cycles : 2).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289001 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 19:28:10.152] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191155 ms (missed cycles : 4).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788550091.43850684 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151579 ms (missed cycles : 2).[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788550092.56056166 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-04 19:28:12.744] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062536 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.449793 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677227 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330268 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742463 ms (missed cycles : 5).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_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: 1788550102.90099549 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788550103.49344230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662830 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 19:28:23.810] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.232069 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167853 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552380 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147539 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424145 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788550113.40654659 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194037 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788550114.06172395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.90sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-04 19:28:34.195] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821502 ms (missed cycles : 3).[0m ×2 + 4.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476291 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578002 ms (missed cycles : 5).[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 8.199241 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 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 8.199241 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 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 8.199241 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 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 8.199241 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199241 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385043 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788550124.40217161 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 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 2.085994 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_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 + 1.03sERRORobjective_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: 1788550124.40217161 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.63sINFOobjective_server_nodecaller: ×6 + 1.63sINFOobjective_server_nodetype: 0 ×6 + 1.63sINFOobjective_server_nodename: "" ×6 + 1.63sINFOobjective_server_nodeinstance_id: "" ×6 + 1.63sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_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 + 2.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_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 + 1.03sERRORobjective_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: 1788550124.40217161 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.63sINFOobjective_server_nodecaller: ×6 + 1.63sINFOobjective_server_nodetype: 0 ×6 + 1.63sINFOobjective_server_nodename: "" ×6 + 1.63sINFOobjective_server_nodeinstance_id: "" ×6 + 1.63sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_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 + 2.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085994 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364847 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_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 + 1.03sERRORobjective_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: 1788550124.40217161 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.63sINFOobjective_server_nodecaller: ×6 + 1.63sINFOobjective_server_nodetype: 0 ×6 + 1.63sINFOobjective_server_nodename: "" ×6 + 1.63sINFOobjective_server_nodeinstance_id: "" ×6 + 1.63sINFOobjective_server_node ×6 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788550125.04387522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788550125.12403846 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104560 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788550125.71831727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_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 + 2.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788550125.74048805 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788550126.33892775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-04 19:28:46.462] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951825 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357715 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.869899 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788550136.40450406 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454168 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561810 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269309 ms (missed cycles : 6).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-04 19:28:56.399] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1788550136.40450406 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788550137.00508094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056965 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101739 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788550138.67521715 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747760 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788550139.27131963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788550139.27337670 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788550139.87535977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788550139.87586904 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [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 | 6.8s | 40 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-19-24-22-971594-cadab9568646-7288 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911727 ms (missed cycles : 2). + 0.82sINFOros2_control_node-1process started with pid [7336] ×2 + 0.82sINFOmove_group-9process started with pid [7377] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7378] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7379] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7380] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7381] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7382] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7383] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7384] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7385] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7386] ×2 + 0.82sINFOweb_bridge-19process started with pid [7387] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7463] ×2 + 0.82sINFOvideo_server-21process started with pid [7464] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7465] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7466] ×2 + 0.84sINFOros2-2process started with pid [7337] ×2 + 0.85sINFOros2-3process started with pid [7338] ×2 + 0.85sINFOros2-4process started with pid [7350] ×2 + 0.85sINFOros2-5process started with pid [7351] ×2 + 0.85sINFOros2-6process started with pid [7352] ×2 + 0.85sINFOros2-7process started with pid [7353] ×2 + 0.85sINFOros2-8process started with pid [7354] ×2 + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911727 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/09/04 19:24:24 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/09/04 19:24:24 INF configuration loaded from /tmp/moveit-webrtc-vnzm89ia/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/09/04 19:24:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/09/04 19:24:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.55sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.03sINFOmove_group[2026-09-04 19:24:25.380] [moveit_pro_license] [info] ×2 + 2.03sINFOmove_group************************************************* ×4 + 2.03sINFOmove_group* MoveIt Pro License ×2 + 2.03sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOwaypoint_manager_node[2026-09-04 19:24:25.450] [moveit_pro_license] [info] ×2 + 2.10sINFOwaypoint_manager_node************************************************* ×4 + 2.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOmove_group ×4 + 2.43sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.44sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.44sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.44sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.46sINFOros2_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 + 2.46sINFOros2_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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829367 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829367 ms (missed cycles : 2).[0m ×2 + 3.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_node[2026-09-04 19:24:26.729] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.54sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.20sINFOcomponent_container_mt[2026-09-04 19:24:27.550] [moveit_pro_license] [info] ×2 + 4.20sINFOcomponent_container_mt************************************************* ×4 + 4.20sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.20sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.22sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.22sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.22sWARNros2_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 + 4.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.22sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.22sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.22sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.22sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.22sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.22sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.22sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.22sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.23sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.23sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.23sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.23sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.23sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.23sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.23sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.23sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.23sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.23sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.23sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.23sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.23sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.23sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.31sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 4.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759803 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759803 ms (missed cycles : 2).[0m ×2 + 4.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.68sINFOros2-5process has finished cleanly [pid 7351] ×2 + 4.77sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 4.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 4.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.84sINFOros2_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 + 4.84sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.84sWARNros2_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 + 4.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.84sINFOros2_control_node[2026-09-04 19:24:28.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.84sINFOros2_control_node[2026-09-04 19:24:28.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.86sINFOros2_control_node[2026-09-04 19:24:28.214] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.86sINFOros2_control_node[2026-09-04 19:24:28.214] [info] Controller state will be published at 50 Hz. ×2 + 4.87sINFOros2_control_node[2026-09-04 19:24:28.219] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.12sINFOros2-6process has finished cleanly [pid 7352] ×2 + 5.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 5.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 5.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.22sINFOros2_control_node[2026-09-04 19:24:28.569] [info] Controller state will be published at 20 Hz. ×2 + 5.22sINFOros2_control_node[2026-09-04 19:24:28.569] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 5.57sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.57sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.58sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.58sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.58sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 5.58sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 5.59sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.59sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.59sINFOros2-8process has finished cleanly [pid 7354] ×2 + 5.61sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.61sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.61sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.61sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.63sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.63sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.97sINFOros2-3process has finished cleanly [pid 7338] ×2 + 5.97sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 5.97sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 6.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.01sINFOforce_torque_sensor_broadcasterconfigure successful + 6.01sINFOros2_control_nodeconfigure successful[0m ×2 + 6.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.38sINFOobjective_server_nodecaller: ×10 + 6.38sINFOobjective_server_nodetype: 0 ×10 + 6.38sINFOobjective_server_nodename: "" ×10 + 6.38sINFOobjective_server_nodeinstance_id: "" ×10 + 6.38sINFOobjective_server_node ×10 + 6.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 6.46sINFOros2-2process has finished cleanly [pid 7337] ×2 + 6.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 6.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 6.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.56sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 6.56sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.89sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.89sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.89sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.89sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 6.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 6.91sINFOros2-7process has finished cleanly [pid 7353] ×2 + 6.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 7.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.04sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.10sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.35sINFOros2-4process has finished cleanly [pid 7350] ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 8.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 8.44sWARNros2_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 + 8.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 9.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 10.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 10.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 378 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.02sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.15sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.15sINFOobjective_server_nodecaller: ×12 + 0.15sINFOobjective_server_nodetype: 0 ×12 + 0.15sINFOobjective_server_nodename: "" ×12 + 0.15sINFOobjective_server_nodeinstance_id: "" ×12 + 0.15sINFOobjective_server_node ×12 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.46sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 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 5.728044 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 7.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.35sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.43sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 466 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.41sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.41sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.41sINFOobjective_server_nodecaller: ×14 + 0.41sINFOobjective_server_nodetype: 0 ×14 + 0.41sINFOobjective_server_nodename: "" ×14 + 0.41sINFOobjective_server_nodeinstance_id: "" ×14 + 0.41sINFOobjective_server_node ×14 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 0.49sINFOros2-2process has finished cleanly [pid 7337] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_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 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.59sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[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 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 2.47sWARNros2_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: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 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: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.12sINFOobjective_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: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 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: 1788549874.32506824 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 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [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/2026-09-04-19-24-22-971594-cadab9568646-7288 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911727 ms (missed cycles : 2). + 0.82sINFOros2_control_node-1process started with pid [7336] ×2 + 0.82sINFOmove_group-9process started with pid [7377] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7378] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7379] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7380] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7381] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7382] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7383] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7384] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7385] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7386] ×2 + 0.82sINFOweb_bridge-19process started with pid [7387] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7463] ×2 + 0.82sINFOvideo_server-21process started with pid [7464] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7465] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7466] ×2 + 0.84sINFOros2-2process started with pid [7337] ×2 + 0.85sINFOros2-3process started with pid [7338] ×2 + 0.85sINFOros2-4process started with pid [7350] ×2 + 0.85sINFOros2-5process started with pid [7351] ×2 + 0.85sINFOros2-6process started with pid [7352] ×2 + 0.85sINFOros2-7process started with pid [7353] ×2 + 0.85sINFOros2-8process started with pid [7354] ×2 + 0.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911727 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/09/04 19:24:24 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.16sINFOvideo_server2026/09/04 19:24:24 INF configuration loaded from /tmp/moveit-webrtc-vnzm89ia/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/09/04 19:24:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/09/04 19:24:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.55sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.03sINFOmove_group[2026-09-04 19:24:25.380] [moveit_pro_license] [info] ×2 + 2.03sINFOmove_group************************************************* ×4 + 2.03sINFOmove_group* MoveIt Pro License ×2 + 2.03sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOwaypoint_manager_node[2026-09-04 19:24:25.450] [moveit_pro_license] [info] ×2 + 2.10sINFOwaypoint_manager_node************************************************* ×4 + 2.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOmove_group ×4 + 2.43sINFOmove_group[92mYou can start planning now![0m ×2 + 2.44sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.44sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.44sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.44sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.46sINFOros2_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 + 2.46sINFOros2_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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829367 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829367 ms (missed cycles : 2).[0m ×2 + 3.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_node[2026-09-04 19:24:26.729] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.54sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 1.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 1.05sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.50sINFOros2-7process has finished cleanly [pid 7353] ×2 + 1.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 3.03sWARNros2_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 1.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 1.05sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.50sINFOros2-7process has finished cleanly [pid 7353] ×2 + 1.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 3.03sWARNros2_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998040 ms (missed cycles : 5).[0m ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7354] ×2 + 0.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 1.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 1.05sINFOros2-2process has finished cleanly [pid 7337] ×2 + 1.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 1.15sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 1.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 1.50sINFOros2-7process has finished cleanly [pid 7353] ×2 + 1.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 3.03sWARNros2_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 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 466 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-3process has finished cleanly [pid 7338] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.41sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.41sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.41sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.41sINFOobjective_server_nodecaller: ×14 + 0.41sINFOobjective_server_nodetype: 0 ×14 + 0.41sINFOobjective_server_nodename: "" ×14 + 0.41sINFOobjective_server_nodeinstance_id: "" ×14 + 0.41sINFOobjective_server_node ×14 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788549869.78948545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788549869.79974842 seconds ×3 + 0.49sINFOros2-2process has finished cleanly [pid 7337] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_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 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.59sINFOros2_control_node[2026-09-04 19:24:29.909] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-04 19:24:29.910] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[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 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOros2-4process has finished cleanly [pid 7350] ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 2.47sWARNros2_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: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 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: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 4.12sINFOobjective_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: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 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: 1788549874.32506824 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 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 362 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yuj4chyp --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5oogt8vv --params-file /tmp/launch_params_fu48lr_q [0m ×2 + 0.02sINFOros2-7process has finished cleanly [pid 7353] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229709 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.15sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.15sINFOobjective_server_nodecaller: ×12 + 0.15sINFOobjective_server_nodetype: 0 ×12 + 0.15sINFOobjective_server_nodename: "" ×12 + 0.15sINFOobjective_server_nodeinstance_id: "" ×12 + 0.15sINFOobjective_server_node ×12 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788549870.45099950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-4process has finished cleanly [pid 7350] ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_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 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 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 5.728044 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [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 | 0.7s | 25 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748762 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748762 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 · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 324 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7350] ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001511 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788549871.56116176 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sWARNros2_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 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788549872.17579460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788549872.23599982 seconds ×3 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774362 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788549872.89317703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788549872.90330219 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788549873.49353027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728044 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788549873.64418697 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788549874.32506824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788549874.38521171 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183324 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788549875.01023722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2825e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-04 19:24:35.157] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215612 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812752 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-04 19:24:37.675] [info] Accepted new action goal ×2 | ||||