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 | 164 warnings · 19272 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788551606.40654159 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.21sINFOros2_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 ] + 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: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788551607.00659919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.95sWARNros2_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.97sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_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 + 5.25sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675956 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675956 ms (missed cycles : 2).[0m ×2 + 7.50sINFOjoint_trajectory_controllerReceived new action goal ×3168 + 7.50sINFOjoint_trajectory_controllerAccepted new action goal ×3168 + 7.50sINFOros2_control_nodeReceived new action goal[0m ×6336 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×6336 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886211 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886211 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791801 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791801 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780660 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780660 ms (missed cycles : 2).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819752 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819752 ms (missed cycles : 2).[0m ×2 + 11.35sWARNros2_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 ×4 + 12.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.31sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.31sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264207 ms (missed cycles : 5). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264207 ms (missed cycles : 5).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687133 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687133 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138789 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138789 ms (missed cycles : 2).[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684560 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684560 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805953 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805953 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230476 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230476 ms (missed cycles : 2).[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087983 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087983 ms (missed cycles : 3).[0m ×2 + 19.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356373 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356373 ms (missed cycles : 2).[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672776 ms (missed cycles : 2). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672776 ms (missed cycles : 2).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345431 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345431 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066688 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066688 ms (missed cycles : 2).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106875 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106875 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678855 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678855 ms (missed cycles : 2).[0m ×2 + 25.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960849 ms (missed cycles : 2). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960849 ms (missed cycles : 2).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897229 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897229 ms (missed cycles : 3).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717986 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717986 ms (missed cycles : 2).[0m ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524491 ms (missed cycles : 2). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524491 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832862 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832862 ms (missed cycles : 2).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725752 ms (missed cycles : 5). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725752 ms (missed cycles : 5).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672433 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672433 ms (missed cycles : 2).[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428476 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428476 ms (missed cycles : 3).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829751 ms (missed cycles : 2). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829751 ms (missed cycles : 2).[0m ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926322 ms (missed cycles : 2). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926322 ms (missed cycles : 2).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262395 ms (missed cycles : 3). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262395 ms (missed cycles : 3).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587693 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587693 ms (missed cycles : 2).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674920 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674920 ms (missed cycles : 2).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813192 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813192 ms (missed cycles : 2).[0m ×2 + 39.24sWARNros2_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 ×4 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393207 ms (missed cycles : 6). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393207 ms (missed cycles : 6).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960458 ms (missed cycles : 2). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960458 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792387 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792387 ms (missed cycles : 2).[0m ×2 + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433089 ms (missed cycles : 2). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433089 ms (missed cycles : 2).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351342 ms (missed cycles : 2). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351342 ms (missed cycles : 2).[0m ×2 + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942267 ms (missed cycles : 2). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942267 ms (missed cycles : 2).[0m ×2 + 46.46sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841507 ms (missed cycles : 5). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841507 ms (missed cycles : 5).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391482 ms (missed cycles : 2). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391482 ms (missed cycles : 2).[0m ×2 + 47.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551650.81186438 seconds ×3 + 47.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOobjective_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: ""
+ 48.16sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788551651.44907212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.29sINFOobjective_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 + 48.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.39sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 48.40sINFOros2_control_node[2026-09-04 19:54:11.602] [info] Received new action goal ×2 + 48.40sINFOros2_control_node[2026-09-04 19:54:11.602] [info] Accepted new action goal ×2 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746277 ms (missed cycles : 2). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746277 ms (missed cycles : 2).[0m ×2 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864070 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864070 ms (missed cycles : 2).[0m ×2 + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214202 ms (missed cycles : 2). + 50.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214202 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.8s | 157 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: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 7.10sINFOros2_control_node[2026-09-04 19:52:34.747] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-04 19:52:34.747] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839446 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839446 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090493 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090493 ms (missed cycles : 4).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227798 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227798 ms (missed cycles : 3).[0m ×2 + 10.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.39sINFOros2_control_node[2026-09-04 19:52:38.033] [info] Received new action goal ×2 + 10.39sINFOros2_control_node[2026-09-04 19:52:38.033] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835243 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835243 ms (missed cycles : 4).[0m ×2 + 10.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512403 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512403 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262638 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262638 ms (missed cycles : 2).[0m ×2 + 13.37sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 13.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.42sINFOros2_control_node[2026-09-04 19:52:41.067] [info] Received new action goal ×2 + 13.42sINFOros2_control_node[2026-09-04 19:52:41.067] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788529 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788529 ms (missed cycles : 2).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545646 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545646 ms (missed cycles : 3).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485344 ms (missed cycles : 4). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485344 ms (missed cycles : 4).[0m ×2 + 16.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.39sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855178 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855178 ms (missed cycles : 5).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388620 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388620 ms (missed cycles : 3).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387124 ms (missed cycles : 6). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387124 ms (missed cycles : 6).[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450318 ms (missed cycles : 3). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450318 ms (missed cycles : 3).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206737 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206737 ms (missed cycles : 2).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392422 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392422 ms (missed cycles : 2).[0m ×2 + 22.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783307 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783307 ms (missed cycles : 2).[0m ×2 + 23.97sINFOobjective_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 + 23.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746299 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746299 ms (missed cycles : 2).[0m ×2 + 24.85sINFOros2_control_node[2026-09-04 19:52:52.492] [info] Received new action goal ×2 + 24.85sINFOros2_control_node[2026-09-04 19:52:52.492] [info] Accepted new action goal ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002730 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002730 ms (missed cycles : 4).[0m ×2 + 26.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.04sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.32sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 26.38sINFOros2_control_node[2026-09-04 19:52:54.021] [info] Received new action goal ×2 + 26.38sINFOros2_control_node[2026-09-04 19:52:54.021] [info] Accepted new action goal ×2 + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272085 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272085 ms (missed cycles : 2).[0m ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704879 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704879 ms (missed cycles : 2).[0m ×2 + 28.67sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 28.68sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.69sINFOros2_control_node[2026-09-04 19:52:56.333] [info] Received new action goal ×2 + 28.69sINFOros2_control_node[2026-09-04 19:52:56.333] [info] Accepted new action goal ×2 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190897 ms (missed cycles : 4). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190897 ms (missed cycles : 4).[0m ×2 + 29.44sWARNros2_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 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274273 ms (missed cycles : 5). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274273 ms (missed cycles : 5).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905798 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905798 ms (missed cycles : 3).[0m ×2 + 31.82sINFOros2_control_node[2026-09-04 19:52:59.462] [info] Received new action goal ×2 + 31.82sINFOros2_control_node[2026-09-04 19:52:59.462] [info] Accepted new action goal ×2 + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245644 ms (missed cycles : 5). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245644 ms (missed cycles : 5).[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958772 ms (missed cycles : 6). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958772 ms (missed cycles : 6).[0m ×2 + 34.41sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 34.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.46sINFOros2_control_node[2026-09-04 19:53:02.106] [info] Received new action goal ×2 + 34.46sINFOros2_control_node[2026-09-04 19:53:02.106] [info] Accepted new action goal ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918734 ms (missed cycles : 3). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918734 ms (missed cycles : 3).[0m ×2 + 35.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271008 ms (missed cycles : 5). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271008 ms (missed cycles : 5).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659536 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659536 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794393 ms (missed cycles : 3). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794393 ms (missed cycles : 3).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880284 ms (missed cycles : 3). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880284 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221468 ms (missed cycles : 2). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221468 ms (missed cycles : 2).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041946 ms (missed cycles : 5). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041946 ms (missed cycles : 5).[0m ×2 + 41.54sWARNros2_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 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693856 ms (missed cycles : 3). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693856 ms (missed cycles : 3).[0m ×2 + 42.02sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545313 ms (missed cycles : 2). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545313 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285025 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285025 ms (missed cycles : 2).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229928 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229928 ms (missed cycles : 2).[0m ×2 + 45.76sINFOros2_control_node[2026-09-04 19:53:13.402] [info] Received new action goal ×2 + 45.76sINFOros2_control_node[2026-09-04 19:53:13.402] [info] Accepted new action goal ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562493 ms (missed cycles : 2). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562493 ms (missed cycles : 2).[0m ×2 + 46.93sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788551594.57863355 seconds ×3 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734923 ms (missed cycles : 5). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734923 ms (missed cycles : 5).[0m ×2 + 47.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.54sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.74sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788551595.38634276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632171 ms (missed cycles : 6). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632171 ms (missed cycles : 6).[0m ×2 + 49.01sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 49.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 49.05sINFOros2_control_node[2026-09-04 19:53:16.691] [info] Received new action goal ×2 + 49.05sINFOros2_control_node[2026-09-04 19:53:16.691] [info] Accepted new action goal ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714566 ms (missed cycles : 3). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714566 ms (missed cycles : 3).[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545615 ms (missed cycles : 5). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545615 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13428 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2205 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2205 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4410 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4410 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351342 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351342 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_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 ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942267 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942267 ms (missed cycles : 2).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841507 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841507 ms (missed cycles : 5).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391482 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391482 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551650.81186438 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788551651.44907212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.08sINFOros2_control_node[2026-09-04 19:54:11.602] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 19:54:11.602] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746277 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746277 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.37sINFOobjective_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 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864070 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864070 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214202 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214202 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881042 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881042 ms (missed cycles : 5).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383720 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383720 ms (missed cycles : 2).[0m ×2 + 9.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374100 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374100 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996028 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996028 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526207 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526207 ms (missed cycles : 4).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293019 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293019 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934898 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934898 ms (missed cycles : 2).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058689 ms (missed cycles : 5). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058689 ms (missed cycles : 5).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877734 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877734 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.404034 ms (missed cycles : 8). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.404034 ms (missed cycles : 8).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955892 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955892 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704072 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704072 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444924 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444924 ms (missed cycles : 2).[0m ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962293 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962293 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 22.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 25.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 26.30sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.30sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 26.30sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 57 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.98sINFOobjective_server_nodeFound path in 1 iterations (0.00331884 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.24sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Accepted new action goal ×2 + 1.64sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Accepted new action goal ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1788551534.44452262 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788551535.10325193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.16sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4).[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5).[0m ×2 + 5.68sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930102 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930102 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576500 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576500 ms (missed cycles : 3).[0m ×2 + 7.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565768 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565768 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170754 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170754 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700264 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700264 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5).[0m ×2 + 14.00sWARNros2_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 + 14.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788551546.35544562 seconds ×3 + 14.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788551547.02049375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788551547.10063672 seconds ×3 + 15.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.54sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 15.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.70sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 15.70sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 17.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 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 2.285025 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285025 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_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 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229928 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229928 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.88sINFOros2_control_node[2026-09-04 19:53:13.402] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-09-04 19:53:13.402] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562493 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562493 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788551594.57863355 seconds ×3 + 3.11sINFOcontroller_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734923 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734923 ms (missed cycles : 5).[0m ×2 + 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 + 3.67sWARNros2_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 + 3.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788551595.38634276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632171 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632171 ms (missed cycles : 6).[0m ×2 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.17sINFOros2_control_node[2026-09-04 19:53:16.691] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-04 19:53:16.691] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714566 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714566 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545615 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545615 ms (missed cycles : 5).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149645 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149645 ms (missed cycles : 5).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390800 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390800 ms (missed cycles : 4).[0m ×2 + 8.87sINFOobjective_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 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596846 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596846 ms (missed cycles : 2).[0m ×2 + 9.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409201 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409201 ms (missed cycles : 2).[0m ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.28sINFOros2_control_node[2026-09-04 19:53:22.801] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-04 19:53:22.801] [info] Accepted new action goal ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788551606.40654159 seconds ×3 + 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 + 15.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788551607.00659919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sWARNros2_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 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.66sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Accepted new action goal ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2).[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 + 16.93sINFOobjective_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 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.4s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_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 + 1.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.13sINFOobjective_server_nodecaller: ×8 + 2.13sINFOobjective_server_nodetype: 0 ×8 + 2.13sINFOobjective_server_nodename: "" ×8 + 2.13sINFOobjective_server_nodeinstance_id: "" ×8 + 2.13sINFOobjective_server_node ×8 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151543 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151543 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506158 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506158 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 1 iterations (0.00286355 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.10sINFOros2_control_node[2026-09-04 19:51:35.316] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-09-04 19:51:35.316] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129308 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129308 ms (missed cycles : 3).[0m ×2 + 9.18sWARNros2_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 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014039 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014039 ms (missed cycles : 2).[0m ×2 + 10.42sINFOros2_control_node[2026-09-04 19:51:37.634] [info] Received new action goal ×2 + 10.42sINFOros2_control_node[2026-09-04 19:51:37.634] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512415 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512415 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 12.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.38sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 12.38sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 13.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 14.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.12sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 15.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.2s | 6 errors · 60 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739173 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739173 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608121 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608121 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811199 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811199 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.43sINFOros2_control_node[2026-09-04 19:51:16.947] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-09-04 19:51:16.947] [info] Accepted new action goal ×2 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.02sINFOros2_control_node[2026-09-04 19:51:17.533] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-09-04 19:51:17.533] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1788551477.54952312 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725835 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725835 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.57sINFOobjective_server_nodecaller: ×6 + 3.57sINFOobjective_server_nodetype: 0 ×6 + 3.57sINFOobjective_server_nodename: "" ×6 + 3.57sINFOobjective_server_nodeinstance_id: "" ×6 + 3.57sINFOobjective_server_node ×6 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788551478.17066050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-04 19:51:18.394] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 19:51:18.394] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098441 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098441 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884847 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884847 ms (missed cycles : 5).[0m ×2 + 5.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 6.16sINFOros2_control_node[2026-09-04 19:51:20.678] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-04 19:51:20.678] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602871 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602871 ms (missed cycles : 5).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505361 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505361 ms (missed cycles : 4).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535147 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535147 ms (missed cycles : 3).[0m ×2 + 8.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652705 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652705 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.074210 ms (missed cycles : 7). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.074210 ms (missed cycles : 7).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 14.21sERRORobjective_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: 1788551488.72324204 seconds ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.84sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 15.86sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 207 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259397 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259397 ms (missed cycles : 5).[0m ×2 + 0.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 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: 1788551521.52351356 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830768 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830768 ms (missed cycles : 2).[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711066 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711066 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788551524.06435466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.05sINFOros2_control_node[2026-09-04 19:52:04.268] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-04 19:52:04.268] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405804 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405804 ms (missed cycles : 3).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375202 ms (missed cycles : 7). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375202 ms (missed cycles : 7).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703989 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703989 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624166 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624166 ms (missed cycles : 6).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410017 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410017 ms (missed cycles : 3).[0m ×2 + 8.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.02sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 8.44sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 1 iterations (0.00306737 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 2 iterations (0.00503934 s). ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382860 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382860 ms (missed cycles : 2).[0m ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.78sINFOobjective_server_nodeFound path in 1 iterations (0.00330672 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.19sINFOros2_control_node[2026-09-04 19:52:10.410] [info] Received new action goal ×2 + 9.19sINFOros2_control_node[2026-09-04 19:52:10.410] [info] Accepted new action goal ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428467 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428467 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 11.84sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.87sINFOobjective_server_nodeFound path in 1 iterations (0.00331884 s). ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2).[0m ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.12sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Received new action goal ×2 + 12.12sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Accepted new action goal ×2 + 12.52sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Received new action goal ×2 + 12.52sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Accepted new action goal ×2 + 12.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4).[0m ×2 + 13.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.20sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Got request to cancel active goal. ×2 + 13.20sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Canceling active goal... ×2 + 13.22sERRORobjective_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: 1788551534.44452262 seconds ×3 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 13.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788551535.10325193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 14.04sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Accepted new action goal ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5).[0m ×2 + 16.56sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788551705.43841147 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.96sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.96sINFOobjective_server_nodecaller: ×8 + 2.96sINFOobjective_server_nodetype: 0 ×8 + 2.96sINFOobjective_server_nodename: "" ×8 + 2.96sINFOobjective_server_nodeinstance_id: "" ×8 + 2.96sINFOobjective_server_node ×8 + 3.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788551706.09959030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.15sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2).[0m ×2 + 4.05sWARNros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260724 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260724 ms (missed cycles : 2).[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868641 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868641 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450984 ms (missed cycles : 4). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450984 ms (missed cycles : 4).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727810 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727810 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_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 + 13.35sERRORobjective_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: 1788551716.42993903 seconds ×3 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 14.69sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 15.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.44sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 15.44sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 58 warnings · 426 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.76sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.76sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.76sINFOobjective_server_nodecaller: ×12 + 0.76sINFOobjective_server_nodetype: 0 ×12 + 0.77sINFOobjective_server_nodename: "" ×12 + 0.77sINFOobjective_server_nodeinstance_id: "" ×12 + 0.77sINFOobjective_server_node ×12 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.80sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455022 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455022 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303678 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303678 ms (missed cycles : 5).[0m ×2 + 7.71sWARNros2_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 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.053759 ms (missed cycles : 8). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.053759 ms (missed cycles : 8).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094719 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094719 ms (missed cycles : 3).[0m ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 10.11sINFOros2_control_node[2026-09-04 19:51:13.593] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-09-04 19:51:13.593] [info] Accepted new action goal ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739173 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739173 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608121 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608121 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811199 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811199 ms (missed cycles : 3).[0m ×2 + 13.44sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.46sINFOros2_control_node[2026-09-04 19:51:16.947] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-09-04 19:51:16.947] [info] Accepted new action goal ×2 + 13.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sINFOros2_control_node[2026-09-04 19:51:17.533] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-09-04 19:51:17.533] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1788551477.54952312 seconds ×3 + 14.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725835 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725835 ms (missed cycles : 2).[0m ×2 + 14.60sINFOobjective_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: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788551478.17066050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 14.91sINFOros2_control_node[2026-09-04 19:51:18.394] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-09-04 19:51:18.394] [info] Accepted new action goal ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098441 ms (missed cycles : 5). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098441 ms (missed cycles : 5).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884847 ms (missed cycles : 5). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884847 ms (missed cycles : 5).[0m ×2 + 17.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 17.18sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.19sINFOros2_control_node[2026-09-04 19:51:20.678] [info] Received new action goal ×2 + 17.19sINFOros2_control_node[2026-09-04 19:51:20.678] [info] Accepted new action goal ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602871 ms (missed cycles : 5). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602871 ms (missed cycles : 5).[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 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152836 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152836 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505083 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505083 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986290 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986290 ms (missed cycles : 2).[0m ×2 + 8.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421543 ms (missed cycles : 4). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421543 ms (missed cycles : 4).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422729 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422729 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2).[0m ×2 + 13.52sINFOobjective_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 + 13.53sERRORobjective_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: 1788551694.93236876 seconds ×3 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504148 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504148 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788551695.53106618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 14.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.43sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Accepted new action goal ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7).[0m ×2 + 14.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574543 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574543 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956390 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956390 ms (missed cycles : 2).[0m ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 1 iterations (0.00294167 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 2 iterations (0.00514301 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 1 iterations (0.00375434 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.46sINFOros2_control_node[2026-09-04 19:51:58.958] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-09-04 19:51:58.959] [info] Accepted new action goal ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532333 ms (missed cycles : 6). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532333 ms (missed cycles : 6).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001409 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001409 ms (missed cycles : 2).[0m ×2 + 11.72sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259397 ms (missed cycles : 5). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259397 ms (missed cycles : 5).[0m ×2 + 11.83sWARNros2_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 + 11.99sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.99sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.99sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788551521.52351356 seconds ×3 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830768 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830768 ms (missed cycles : 2).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711066 ms (missed cycles : 5). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711066 ms (missed cycles : 5).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788551524.06435466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 14.77sINFOros2_control_node[2026-09-04 19:52:04.268] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-09-04 19:52:04.268] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405804 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405804 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375202 ms (missed cycles : 7). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375202 ms (missed cycles : 7).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703989 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703989 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2226 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.93sINFOobjective_server_nodecaller: ×4 + 3.93sINFOobjective_server_nodetype: 0 ×4 + 3.93sINFOobjective_server_nodename: "" ×4 + 3.93sINFOobjective_server_nodeinstance_id: "" ×4 + 3.93sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 + 7.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.366026 ms (missed cycles : 6). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.366026 ms (missed cycles : 6).[0m ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 1 iterations (0.00294163 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.19sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.22sINFOros2_control_node[2026-09-04 19:54:37.827] [info] Received new action goal ×2 + 8.22sINFOros2_control_node[2026-09-04 19:54:37.827] [info] Accepted new action goal ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129293 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129293 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216450 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216450 ms (missed cycles : 4).[0m ×2 + 10.52sINFOros2_control_node[2026-09-04 19:54:40.129] [info] Received new action goal ×2 + 10.52sINFOros2_control_node[2026-09-04 19:54:40.129] [info] Accepted new action goal ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431929 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431929 ms (missed cycles : 4).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 12.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.28sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 12.28sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 13.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 13.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 14.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.31sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 17.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.51sINFOobjective_server_nodetype: 0 ×6 + 2.51sINFOobjective_server_nodename: "" ×6 + 2.51sINFOobjective_server_nodeinstance_id: "" ×6 + 2.51sINFOobjective_server_node ×6 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.81sINFOros2_control_node[2026-09-04 19:51:45.733] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-09-04 19:51:45.733] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253667 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253667 ms (missed cycles : 4).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508470 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508470 ms (missed cycles : 3).[0m ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 9.15sINFOros2_control_node[2026-09-04 19:51:48.071] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-09-04 19:51:48.071] [info] Accepted new action goal ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935431 ms (missed cycles : 5). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.935431 ms (missed cycles : 5).[0m ×2 + 10.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 11.50sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 13.50sINFOobjective_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 + 13.51sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 13.51sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 13.52sERRORobjective_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: 1788551512.44217706 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 14.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.10sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.16sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 14.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.36sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 363 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_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 + 1.88sERRORobjective_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: 1788551716.42993903 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.47sINFOobjective_server_nodecaller: ×12 + 2.47sINFOobjective_server_nodetype: 0 ×12 + 2.47sINFOobjective_server_nodename: "" ×12 + 2.47sINFOobjective_server_nodeinstance_id: "" ×12 + 2.47sINFOobjective_server_node ×12 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834313 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834313 ms (missed cycles : 4).[0m ×2 + 7.27sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.28sINFOros2_control_node[2026-09-04 19:55:21.831] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-09-04 19:55:21.831] [info] Accepted new action goal ×2 + 7.28sINFOros2_control_node[2026-09-04 19:55:21.831] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114042 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114042 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434009 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434009 ms (missed cycles : 2).[0m ×2 + 9.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837292 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837292 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 13.97sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 13.97sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 13.98sERRORobjective_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: 1788551728.53213191 seconds ×3 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 16.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 16.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.83sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 17.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 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 6.422729 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422729 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1788551694.93236876 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_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 4.504148 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504148 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788551695.53106618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7).[0m ×2 + 4.40sWARNros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265773 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265773 ms (missed cycles : 4).[0m ×2 + 7.92sINFOros2_control_node[2026-09-04 19:54:59.853] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-04 19:54:59.853] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854588 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854588 ms (missed cycles : 4).[0m ×2 + 9.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306010 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306010 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4).[0m ×2 + 13.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788551705.43841147 seconds ×3 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788551706.09959030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 14.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.29sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Accepted new action goal ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2).[0m ×2 + 15.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3).[0m ×2 + 16.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.4s | 54 errors · 36 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: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.30sINFOobjective_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 + 2.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551732.71839595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.24852586 seconds ×3 + 4.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929134 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929134 ms (missed cycles : 2).[0m ×2 + 6.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607166 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607166 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099723 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099723 ms (missed cycles : 5).[0m ×2 + 9.68sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.70sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.71sERRORweb_video_auth_proxy-23process has died [pid 7487, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.71sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.71sERRORweb_bridge_auth_proxy-22process has died [pid 7486, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.71sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.72sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.72sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.72sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.73sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.73sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.74sINFOvideo_server-21process has finished cleanly [pid 7484] ×2 + 9.74sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.74sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.75sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.75sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.76sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.76sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.77sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.77sINFOcontroller_managerShutdown request received.... + 9.77sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.77sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.77sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.77sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.77sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.77sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.77sINFOvideo_server2026/09/04 19:55:38 INF shutting down gracefully ×2 + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.77sINFOvideo_server2026/09/04 19:55:38 INF [WebRTC] closing ×2 + 9.77sINFOvideo_server2026/09/04 19:55:38 INF [RTSP] closing ×2 + 9.77sINFOvideo_server2026/09/04 19:55:38 INF waiting for running hooks ×2 + 9.77sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.77sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.77sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOcontroller_managerShutting down the controller manager. + 9.77sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.77sERRORmove_groupStack trace (most recent call last) in thread 7835: ×2 + 9.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.78sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37a215da63, in __clone ×2 + 9.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37a20d0aa3, in ×2 + 9.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f37a2362db3, in ×2 + 9.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f37a2ac7a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f37a26f4620, in rclcpp::Rate::sleep() ×2 + 9.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f37a2636d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f37a25f8087, in ×2 + 9.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f37a2331390, in __cxa_throw ×2 + 9.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f37a231ba54, in std::terminate() ×2 + 9.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f37a23310d9, in ×2 + 9.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f37a231bff4, in ×2 + 9.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37a205c8fe, in abort ×2 + 9.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37a207927d, in raise ×2 + 9.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37a20d2b2c, in pthread_kill ×2 + 9.78sERRORmove_groupAborted (Signal sent by tkill() 7398 0) ×2 + 9.79sERRORmove_group-9process has died [pid 7398, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_ld6ow2oy --params-file /tmp/launch_params_fgguelt_ --params-file /tmp/launch_params_j_e1esw7 --params-file /tmp/launch_params_33z963t7 --params-file /tmp/launch_params_km3ebv0f --params-file /tmp/launch_params_amgyxah3']. ×2 + 9.98sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.98sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 9.99sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.78sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7483] ×2 + 10.78sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.79sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7402] ×2 + 10.80sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7401] ×2 + 10.83sINFOparameter_manager_node-10process has finished cleanly [pid 7399] ×2 + 10.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 7400] ×2 + 10.84sINFOcomponent_container_mt-16process has finished cleanly [pid 7405] ×2 + 10.84sINFOui_teleop_bridge-18process has finished cleanly [pid 7407] ×2 + 10.84sINFOexecute_objective_bridge-17process has finished cleanly [pid 7406] ×2 + 10.89sINFOobjective_server_node[0;m[2026-09-04 19:55:39.969] [moveit_pro_license] [critical] ×2 + 10.89sINFOobjective_server_node************************************************* ×4 + 10.89sINFOobjective_server_node* MoveIt Pro License ×2 + 10.89sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.02sINFOobjective_server_node_main-14process has finished cleanly [pid 7403] ×2 + 11.02sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.84sINFOweb_bridge-19process has finished cleanly [pid 7408] ×2 + 11.84sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 11.94sINFOcomponent_container_mt-15process has finished cleanly [pid 7404] ×2 + 12.42sINFOros2_control_node-1process has finished cleanly [pid 7357] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788551546.35544562 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788551547.02049375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788551547.10063672 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.90sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.01sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.08sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 7.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.3s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788551728.53213191 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.06sINFOobjective_server_nodecaller: ×8 + 3.06sINFOobjective_server_nodetype: 0 ×8 + 3.06sINFOobjective_server_nodename: "" ×8 + 3.06sINFOobjective_server_nodeinstance_id: "" ×8 + 3.06sINFOobjective_server_node ×8 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 4.35sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5).[0m ×2 + 6.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.64sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551732.71839595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.24852586 seconds ×3 + 7.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOcomponent_container_mt[2026-09-04 19:50:59.242] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.19sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.19sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.40sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.40sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.40sWARNros2_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 + 0.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.40sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.40sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.40sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.40sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.40sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.40sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.40sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.40sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.40sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.61sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.61sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.62sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.62sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.62sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.63sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.63sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.63sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891512 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891512 ms (missed cycles : 3).[0m ×2 + 0.64sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.64sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.91sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.91sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.96sINFOros2-3process has finished cleanly [pid 7359] ×2 + 1.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.10sINFOros2_control_node[2026-09-04 19:51:00.342] [info] Controller state will be published at 20 Hz. ×2 + 1.10sINFOros2_control_node[2026-09-04 19:51:00.343] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.27sWARNobjective_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 + 1.39sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.39sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.42sINFOros2-8process has finished cleanly [pid 7375] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.52sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.54sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.54sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 1.55sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 1.86sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.86sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.86sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.90sINFOros2-6process has finished cleanly [pid 7373] ×2 + 1.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.93sINFOforce_torque_sensor_broadcasterconfigure successful + 1.93sINFOros2_control_nodeconfigure successful[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.23sINFOros2-2process has finished cleanly [pid 7358] ×2 + 2.28sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 2.28sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 2.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.34sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 2.34sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.67sINFOobjective_server_nodecaller: ×14 + 2.67sINFOobjective_server_nodetype: 0 ×14 + 2.67sINFOobjective_server_nodename: "" ×14 + 2.67sINFOobjective_server_nodeinstance_id: "" ×14 + 2.67sINFOobjective_server_node ×14 + 2.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 2.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 2.72sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.72sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.72sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOros2-7process has finished cleanly [pid 7374] ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.73sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 3.16sINFOros2-4process has finished cleanly [pid 7371] ×2 + 3.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.20sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOros2-5process has finished cleanly [pid 7372] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 4.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.59sWARNros2_control_nodeCamera render tick took 1.92 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 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 5.85sWARNros2_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 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 7.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 7.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.05sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 8.05sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788551546.35544562 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788551547.02049375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788551547.10063672 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_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 + 0.35sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 0.35sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 0.36sERRORobjective_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: 1788551728.53213191 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.90sINFOobjective_server_nodecaller: ×8 + 0.90sINFOobjective_server_nodetype: 0 ×8 + 0.90sINFOobjective_server_nodename: "" ×8 + 0.90sINFOobjective_server_nodeinstance_id: "" ×8 + 0.90sINFOobjective_server_node ×8 + 0.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.21sINFOobjective_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 + 3.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551732.71839595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.24852586 seconds ×3 + 5.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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: 1788551716.42993903 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 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_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 + 2.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sWARNros2_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 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512415 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512415 ms (missed cycles : 2).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.39sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 558 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.43sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 1.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.69sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.12sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 4.38sWARNros2_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 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_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 + 1.88sERRORobjective_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: 1788551716.42993903 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 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 2.273012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_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 + 0.35sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 0.35sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 0.36sERRORobjective_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: 1788551728.53213191 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.90sINFOobjective_server_nodecaller: ×8 + 0.90sINFOobjective_server_nodetype: 0 ×8 + 0.90sINFOobjective_server_nodename: "" ×8 + 0.90sINFOobjective_server_nodeinstance_id: "" ×8 + 0.90sINFOobjective_server_node ×8 + 0.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.21sINFOobjective_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 + 3.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862106 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551732.71839595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551733.24852586 seconds ×3 + 5.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422610 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919746 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_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 + 2.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sWARNros2_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 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506844 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_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 + 2.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sWARNros2_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 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_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 + 1.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_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 + 1.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_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 + 1.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471076 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724169 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_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 + 1.51sERRORobjective_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: 1788551488.72324204 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514072 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788551489.40702128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788551489.49715471 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788551490.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463092 ms (missed cycles : 5).[0m ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:51:30.369] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022645 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924649 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-04 19:51:39.594] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812129 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788551500.87968922 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869715 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788551501.51506734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788551501.56518960 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629136 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788551502.20951080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 19:51:42.334] [info] Accepted new action goal ×2 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676089 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173771 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831995 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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[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 8.092511 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092511 ms (missed cycles : 5).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-09-04 19:51:50.421] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515184 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729200 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-04 19:51:52.429] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788551512.44217706 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813912 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788551513.08138943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.285] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-04 19:51:53.286] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419878 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400124 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135955 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889804 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.98sINFOobjective_server_nodeFound path in 1 iterations (0.00331884 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882179 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.24sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-09-04 19:52:13.341] [info] Accepted new action goal ×2 + 1.64sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-04 19:52:13.743] [info] Accepted new action goal ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055003 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Got request to cancel active goal. ×2 + 2.32sINFOros2_control_node[2026-09-04 19:52:14.424] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1788551534.44452262 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788551535.10325193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.16sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-09-04 19:52:15.267] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743031 ms (missed cycles : 4).[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759150 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127792 ms (missed cycles : 5).[0m ×2 + 5.68sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-09-04 19:52:17.786] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300136 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.892356 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332250 ms (missed cycles : 5).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788551546.35544562 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788551547.02049375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731914 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788551547.10063672 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 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: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788551547.69489670 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 (5.08e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 19:52:27.808] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870786 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908372 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788551549.81503558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 3.21sINFOros2_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: 1788551551.45842528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983017 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 19:52:31.875] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854985 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602814 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387935 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679827 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068469 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788551606.40654159 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_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: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788551607.00659919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sWARNros2_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 19:53:27.180] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165481 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241878 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_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 + 5.25sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037119 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 · 2116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×338 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×338 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×676 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×676 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641503 ms (missed cycles : 4).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680059 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492831 ms (missed cycles : 4).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788551672.91010404 seconds ×3 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049769 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788551673.62976933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 19:54:33.823] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755415 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255118 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995651 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999978 ms (missed cycles : 2).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-04 19:54:41.893] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564308 ms (missed cycles : 6).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788551683.17995858 seconds ×3 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378502 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767201 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788551684.72165084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-04 19:54:44.917] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227494 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917537 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422729 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422729 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989134 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042539 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1788551694.93236876 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504148 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504148 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788551695.53106618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.91sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-04 19:54:55.834] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.344897 ms (missed cycles : 7).[0m ×2 + 4.40sWARNros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298374 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283349 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416650 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591684 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168395 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788551705.43841147 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788551706.09959030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.15sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 19:55:06.223] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350184 ms (missed cycles : 2).[0m ×2 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745182 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838161 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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: 1788551716.42993903 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 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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: 1788551716.42993903 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 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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: 1788551716.42993903 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 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357244 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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: 1788551716.42993903 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 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_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 + 1.88sERRORobjective_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: 1788551716.42993903 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_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 + 1.88sERRORobjective_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: 1788551716.42993903 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545781 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001615 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_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 + 1.88sERRORobjective_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: 1788551716.42993903 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788551717.07362485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788551717.16375232 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611910 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788551717.76238751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788551717.78517652 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788551718.39642763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 19:55:18.510] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659099 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250066 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519955 ms (missed cycles : 6).[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 6.397512 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788551728.53213191 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 4.35sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 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 6.397512 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397512 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744680 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273012 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Got request to cancel active goal. ×2 + 2.51sINFOros2_control_node[2026-09-04 19:55:28.526] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788551728.53213191 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551729.13511705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004061 ms (missed cycles : 2).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668490 ms (missed cycles : 3).[0m ×2 + 4.35sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551730.78524399 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788551731.38167500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788551731.38362122 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368482 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788551731.98036027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788551731.98084831 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 · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [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 | 39 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/2026-09-04-19-50-55-195780-3183332e3ac2-7309 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924074 ms (missed cycles : 2). + 0.87sINFOros2_control_node-1process started with pid [7357] ×2 + 0.87sINFOmove_group-9process started with pid [7398] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.87sINFOweb_bridge-19process started with pid [7408] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7483] ×2 + 0.87sINFOvideo_server-21process started with pid [7484] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7486] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7487] ×2 + 0.87sINFOros2-2process started with pid [7358] ×2 + 0.87sINFOros2-3process started with pid [7359] ×2 + 0.87sINFOros2-4process started with pid [7371] ×2 + 0.87sINFOros2-5process started with pid [7372] ×2 + 0.87sINFOros2-6process started with pid [7373] ×2 + 0.87sINFOros2-7process started with pid [7374] ×2 + 0.87sINFOros2-8process started with pid [7375] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924074 ms (missed cycles : 2).[0m ×2 + 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 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.24sINFOvideo_server2026/09/04 19:50:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/09/04 19:50:56 INF configuration loaded from /tmp/moveit-webrtc-y445apz3/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/09/04 19:50:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/09/04 19:50:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.82sINFOmove_group[2026-09-04 19:50:57.401] [moveit_pro_license] [info] ×2 + 1.82sINFOmove_group************************************************* ×4 + 1.82sINFOmove_group* MoveIt Pro License ×2 + 1.82sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOwaypoint_manager_node[2026-09-04 19:50:57.585] [moveit_pro_license] [info] ×2 + 2.01sINFOwaypoint_manager_node************************************************* ×4 + 2.01sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.01sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOros2_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 + 2.03sINFOros2_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 + 2.03sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOmove_group ×4 + 2.22sINFOmove_group[92mYou can start planning now![0m ×2 + 3.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.21sINFOobjective_server_node[2026-09-04 19:50:58.794] [moveit_pro_license] [info] ×2 + 3.21sINFOobjective_server_node************************************************* ×4 + 3.21sINFOobjective_server_node* MoveIt Pro License ×2 + 3.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.35sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.66sINFOcomponent_container_mt[2026-09-04 19:50:59.242] [moveit_pro_license] [info] ×2 + 3.66sINFOcomponent_container_mt************************************************* ×4 + 3.66sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.66sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.85sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.85sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.06sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.06sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.06sWARNros2_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 + 4.06sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.06sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.06sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.06sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.06sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.06sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.06sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.06sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.06sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.06sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.28sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.28sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.28sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.28sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 4.28sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 4.29sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891512 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891512 ms (missed cycles : 3).[0m ×2 + 4.30sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.30sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.57sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.57sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.57sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.57sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.62sINFOros2-3process has finished cleanly [pid 7359] ×2 + 4.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 4.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 4.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.76sINFOros2_control_node[2026-09-04 19:51:00.342] [info] Controller state will be published at 20 Hz. ×2 + 4.76sINFOros2_control_node[2026-09-04 19:51:00.343] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.94sWARNobjective_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 + 5.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.08sINFOros2-8process has finished cleanly [pid 7375] ×2 + 5.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 5.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 5.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.18sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.18sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.20sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.21sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 5.21sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 5.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 5.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 5.57sINFOros2-6process has finished cleanly [pid 7373] ×2 + 5.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.59sINFOforce_torque_sensor_broadcasterconfigure successful + 5.59sINFOros2_control_nodeconfigure successful[0m ×2 + 5.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.89sINFOros2-2process has finished cleanly [pid 7358] ×2 + 5.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 5.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 5.97sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.00sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 6.00sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.33sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.33sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.33sINFOobjective_server_nodecaller: ×10 + 6.33sINFOobjective_server_nodetype: 0 ×10 + 6.33sINFOobjective_server_nodename: "" ×10 + 6.33sINFOobjective_server_nodeinstance_id: "" ×10 + 6.33sINFOobjective_server_node ×10 + 6.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 6.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 6.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOros2-7process has finished cleanly [pid 7374] ×2 + 6.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 6.79sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.79sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 6.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 6.82sINFOros2-4process has finished cleanly [pid 7371] ×2 + 6.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.85sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.85sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.85sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.86sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.16sINFOros2-5process has finished cleanly [pid 7372] ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 8.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 8.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 8.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 9.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 9.51sWARNros2_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 + 10.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 10.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 390 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.13sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.17sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.17sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.24sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.24sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.24sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.24sINFOobjective_server_nodecaller: ×12 + 0.24sINFOobjective_server_nodetype: 0 ×12 + 0.24sINFOobjective_server_nodename: "" ×12 + 0.24sINFOobjective_server_nodeinstance_id: "" ×12 + 0.24sINFOobjective_server_node ×12 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.47sINFOros2-5process has finished cleanly [pid 7372] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_control_nodeCamera render tick took 1.92 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 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.53sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 7.53sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 478 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.92sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.95sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.98sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.98sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.98sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.98sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.98sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.99sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.99sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.99sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.99sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.99sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[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: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 3.64sWARNros2_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 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 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/2026-09-04-19-50-55-195780-3183332e3ac2-7309 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924074 ms (missed cycles : 2). + 0.87sINFOros2_control_node-1process started with pid [7357] ×2 + 0.87sINFOmove_group-9process started with pid [7398] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7399] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7400] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7401] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7402] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7403] ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcomponent_container_mt-15process started with pid [7404] ×2 + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOcomponent_container_mt-16process started with pid [7405] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7406] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7407] ×2 + 0.87sINFOweb_bridge-19process started with pid [7408] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7483] ×2 + 0.87sINFOvideo_server-21process started with pid [7484] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7486] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7487] ×2 + 0.87sINFOros2-2process started with pid [7358] ×2 + 0.87sINFOros2-3process started with pid [7359] ×2 + 0.87sINFOros2-4process started with pid [7371] ×2 + 0.87sINFOros2-5process started with pid [7372] ×2 + 0.87sINFOros2-6process started with pid [7373] ×2 + 0.87sINFOros2-7process started with pid [7374] ×2 + 0.87sINFOros2-8process started with pid [7375] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924074 ms (missed cycles : 2).[0m ×2 + 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 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.24sINFOvideo_server2026/09/04 19:50:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/09/04 19:50:56 INF configuration loaded from /tmp/moveit-webrtc-y445apz3/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/09/04 19:50:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/09/04 19:50:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.82sINFOmove_group[2026-09-04 19:50:57.401] [moveit_pro_license] [info] ×2 + 1.82sINFOmove_group************************************************* ×4 + 1.82sINFOmove_group* MoveIt Pro License ×2 + 1.82sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOwaypoint_manager_node[2026-09-04 19:50:57.585] [moveit_pro_license] [info] ×2 + 2.01sINFOwaypoint_manager_node************************************************* ×4 + 2.01sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.01sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOros2_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 + 2.03sINFOros2_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 + 2.03sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOmove_group ×4 + 2.22sINFOmove_group[92mYou can start planning now![0m ×2 + 3.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.21sINFOobjective_server_node[2026-09-04 19:50:58.794] [moveit_pro_license] [info] ×2 + 3.21sINFOobjective_server_node************************************************* ×4 + 3.21sINFOobjective_server_node* MoveIt Pro License ×2 + 3.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.35sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.35sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 558 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.43sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 1.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.69sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.12sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 4.38sWARNros2_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 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 558 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.43sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 1.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.69sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.12sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 4.38sWARNros2_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 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 558 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-09-04 19:51:00.761] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.07sINFOros2_control_node[2026-09-04 19:51:00.784] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-04 19:51:00.790] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277810 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.43sINFOros2-6process has finished cleanly [pid 7373] ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOros2-7process has finished cleanly [pid 7374] ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 1.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 1.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 1.69sINFOros2-4process has finished cleanly [pid 7371] ×2 + 1.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.12sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 4.38sWARNros2_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 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 478 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7358] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 19:51:01.581] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-04 19:51:01.582] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.46sINFOobjective_server_nodecaller: ×14 + 0.46sINFOobjective_server_nodetype: 0 ×14 + 0.46sINFOobjective_server_nodename: "" ×14 + 0.46sINFOobjective_server_nodeinstance_id: "" ×14 + 0.46sINFOobjective_server_node ×14 + 0.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551461.96586466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOros2-7process has finished cleanly [pid 7374] ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551461.97614098 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.92sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.95sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.98sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.98sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.98sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.98sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.98sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.98sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.99sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.99sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.99sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.99sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.99sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-5process has finished cleanly [pid 7372] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[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: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 3.64sWARNros2_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 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 374 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667583 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.10sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.10sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 + 0.11sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u9pnmj9h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s8lzvqwh --params-file /tmp/launch_params_qtrm5qv2 [0m ×2 + 0.13sINFOros2-4process has finished cleanly [pid 7371] ×2 + 0.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.17sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.17sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.24sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.24sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.24sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.24sINFOobjective_server_nodecaller: ×12 + 0.24sINFOobjective_server_nodetype: 0 ×12 + 0.24sINFOobjective_server_nodename: "" ×12 + 0.24sINFOobjective_server_nodeinstance_id: "" ×12 + 0.24sINFOobjective_server_node ×12 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788551462.56250310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-5process has finished cleanly [pid 7372] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_control_nodeCamera render tick took 1.92 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 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [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 · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455022 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455022 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265042 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788551463.67266655 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.35sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.77sINFOobjective_server_nodecaller: ×10 + 0.77sINFOobjective_server_nodetype: 0 ×10 + 0.77sINFOobjective_server_nodename: "" ×10 + 0.77sINFOobjective_server_nodeinstance_id: "" ×10 + 0.77sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788551464.29774547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788551464.35538697 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243315 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551465.02559447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551465.04572129 seconds ×3 + 1.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551465.65264034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062984 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551465.80345130 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551466.52155066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551466.56170607 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.076701 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788551467.16322327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.3792e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 19:51:07.290] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854095 ms (missed cycles : 5).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438909 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 19:51:09.797] [info] Accepted new action goal ×2 | ||||